Motor torque compensation method and device and storage medium

Abstract

The invention relates to the technical field of vehicle control, in particular to a motor torque compensation method and device and a storage medium. The method is applied to a motor controller and comprises the steps that according to a torque reduction instruction sent by an electronic stability system ESC, the output torque of a motor is reduced, and the torque reduction instruction is sent by the ESC when the wheel speed out-of-tolerance is larger than a first threshold value; determining fluctuation parameters of the rotating speed of the motor when the rotating speed of the motor and the whole vehicle resonance are detected; determining the resonance frequency of the whole vehicle according to the fluctuation parameter of the rotating speed of the motor; determining a frequency compensation torque according to the resonance frequency of the whole vehicle; and compensating the output torque of the motor according to the frequency compensation torque. According to the scheme, vehicle shaking caused by resonance of the whole vehicle can be effectively restrained.

Description

Technical Field

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

[0002] Low-adhesion roads usually refer to roads with a relatively low friction coefficient, which can easily cause wheels to slip and vehicles to lose control, such as slippery or icy roads. On low-adhesion roads, the vehicle's driving safety and stability can be improved by adjusting the vehicle's power output, traction control, and stability control. When a vehicle accelerates on a low-adhesion road, it is also prone to shaking, affecting the driving experience of the driver and passengers. Summary of the invention

[0003] In view of this, the present application provides a motor torque compensation method, device and storage medium, which can effectively suppress vehicle vibration caused by vehicle resonance.

[0004] In a first aspect, an embodiment of the present invention provides a motor torque compensation method, which is applied to a motor controller and includes:

[0005] reducing the motor output torque according to a torque reduction command sent by an electronic stability control system (ESC), wherein the torque reduction command is sent by the ESC when the wheel speed difference is greater than a first threshold;

[0006] When the motor speed and the whole vehicle resonance are detected, the fluctuation parameters of the motor speed are determined;

[0007] Determining the resonance frequency of the whole vehicle according to the fluctuation parameter of the motor speed;

[0008] Determining a frequency compensation torque according to the whole vehicle resonance frequency;

[0009] The motor output torque is compensated according to the frequency compensation torque.

[0010] In some embodiments, the detecting of the motor speed and the resonance of the whole vehicle includes:

[0011] Determine a first motor speed waveform;

[0012] When the amplitude of the first motor speed waveform is greater than a second threshold, it is determined that the motor speed resonates with the entire vehicle.

[0013] In some embodiments, determining the fluctuation parameter of the motor speed includes:

[0014] Determine the second motor speed waveform after the motor speed resonates with the entire vehicle;

[0015] Determining a fluctuation parameter of the motor speed according to the second motor speed waveform;

[0016] The fluctuation parameter includes a period and / or a fluctuation frequency of the motor speed.

[0017] In some embodiments, determining the resonance frequency of the entire vehicle according to the fluctuation parameter of the motor speed includes:

[0018] The fluctuation parameters of the motor speed include period and / or fluctuation frequency;

[0019] The period and / or fluctuation frequency of the motor speed is converted into the resonance frequency of the whole vehicle.

[0020] In some embodiments, determining the frequency compensation torque according to the whole vehicle resonance frequency includes:

[0021] Determining a first compensation torque according to a maximum compensation limit value of the motor torque and a vibration amplitude of the motor speed;

[0022] The frequency compensation torque is determined according to the whole vehicle resonance frequency and the first compensation torque.

[0023] In some embodiments, determining the first compensation torque according to the maximum compensation limit value of the motor torque and the vibration amplitude of the motor speed includes:

[0024] Determine the amplitude fluctuation value of the motor speed after the motor speed resonates with the vehicle;

[0025] determining a torque compensation percentage according to the amplitude fluctuation value;

[0026] The first compensation torque is determined according to the motor torque maximum compensation limit value and the torque compensation percentage.

[0027] In some embodiments, different maximum compensation limit values ​​of the motor torque are set according to different vehicle models.

[0028] In a second aspect, an embodiment of the present invention provides a motor torque compensation device, which is deployed in a motor controller and includes:

[0029] a torque reduction module, configured to reduce the motor output torque according to a torque reduction instruction sent by an electronic stability system (ESC), wherein the torque reduction instruction is sent by the ESC when the wheel speed difference is greater than a first threshold;

[0030] Detection module, used to detect motor speed and vehicle resonance;

[0031] A determination module, used to determine the fluctuation parameters of the motor speed; determine the resonance frequency of the whole vehicle according to the fluctuation parameters of the motor speed; determine the frequency compensation torque according to the resonance frequency of the whole vehicle;

[0032] The torque compensation module is used to compensate the motor output torque according to the frequency compensation torque.

[0033] In a third aspect, an embodiment of the present invention provides a motor torque compensation device, comprising: a memory for storing computer program instructions and a processor for executing program instructions, wherein, when the computer program instructions are executed by the processor, the motor torque compensation device executes the method described in the first aspect or any one of the first aspects.

[0034] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute the method described in the first aspect or any one of the first aspects.

[0035] The motor torque compensation method, device and storage medium provided by the embodiments of the present invention have at least the following beneficial effects:

[0036] In an embodiment of the present invention, when the vehicle wheel speed deviation is greater than a first threshold, it is determined that the vehicle is in a slipping state, and the ESC intervenes and performs a preliminary torque reduction on the vehicle by reducing the torque command. After the initial torque reduction on the vehicle, the vehicle speed is still rising. When the vehicle speed reaches a certain level, the motor speed and the whole vehicle will resonate, and the vehicle will continue to shake. Among them, after the initial torque reduction on the vehicle, the MCU detects whether the motor speed and the whole vehicle resonate. When the motor speed and the whole vehicle resonate, the MCU determines the fluctuation parameters of the motor speed. According to the fluctuation parameters of the motor speed, the resonance frequency of the whole vehicle can be determined. In an embodiment of the present invention, the frequency compensation torque is calculated according to the resonance frequency of the whole vehicle to compensate for the motor output torque, thereby suppressing the jitter caused by the resonance of the whole vehicle during the acceleration of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A flow chart of a motor torque compensation method provided by an embodiment of the present invention;

[0038] Figure 2 A schematic diagram of a motor speed and torque fluctuation provided by an embodiment of the present invention;

[0039] Figure 3 A motor speed waveform diagram for calculating motor speed fluctuation parameters provided by an embodiment of the present invention;

[0040] Figure 4 A processing flow chart of a motor torque compensation method provided by an embodiment of the present invention;

[0041] Figure 5 A schematic diagram of suppressing motor speed fluctuation provided by an embodiment of the present invention;

[0042] Figure 6 A schematic diagram of the structure of a motor torque compensation device provided by an embodiment of the present invention;

[0043] Figure 7 A schematic structural diagram of a motor torque compensation device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0044] In order to better understand the technical solution of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0045] It should be clear that the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0046] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0047] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0048] On low-adhesion roads, the vehicle's motor speed or torque may fluctuate at a certain speed. At this time, the entire vehicle will feel like it is shaking, causing the driver to panic or judge that the vehicle is in a fault state.

[0049] In order to solve the problem of vehicle jitter on low-adhesion roads, it is necessary to understand the source of motor jitter. The sources of motor jitter are mainly divided into two aspects:

[0050] (1) The electrification of electric drive systems has simplified the mechanical structure, and the reduction of damping elements has made the electric drive system more sensitive to vibration.

[0051] (2) The motor torque of an electric vehicle often changes frequently and significantly during driving, and there is transmission tooth surface switching caused by changes in torque direction. Due to the under-damping characteristics caused by the relatively simple transmission system, the vehicle is prone to vehicle shaking when starting, rapidly accelerating, rapidly decelerating, changing from acceleration to energy recovery, and exiting energy recovery.

[0052] The vehicle transmission chain is composed of the motor drive shaft, gearbox gear meshing, drive shaft, and wheel load. The vehicle can be driven through this transmission chain. Under the vehicle control angle, the control command that can be applied to the motor is mainly the torque command. Therefore, a relationship can be established, that is, according to the vehicle vibration performance, the corresponding torque can be calculated to eliminate the vibration.

[0053] One method of eliminating such jitter in the related art includes filtering the motor speed, calculating the compensation torque based on the difference between the motor speeds before and after filtering, and superimposing the compensation torque on the driver torque to suppress vehicle jitter.

[0054] The above-mentioned method of eliminating vehicle vibration in related technologies does not take into account the impact of changes in vehicle parameters, and the vibration suppression effect is general and cannot be completely effective. Therefore, it is necessary to study the resonance between the inherent vibration frequency of the vehicle itself and the motor speed during the full throttle starting acceleration stage, which causes the continuous vibration of the vehicle at a certain speed stage.

[0055] Based on the above analysis, an embodiment of the present invention provides a motor torque compensation method, which determines the resonance frequency of the whole vehicle itself when the motor speed resonates with the whole vehicle, and compensates the motor output torque based on the resonance frequency of the whole vehicle itself, thereby suppressing the continuous shaking caused by the resonance of the whole vehicle when the vehicle accelerates to a certain stage.

[0056] See also Figure 1 , which is a flow chart of a motor torque compensation method provided in an embodiment of the present invention. Figure 1 The execution subject of the method shown is a motor controller, which can be specifically implemented as an MCU. Figure 1 As shown, the processing steps of the method include:

[0057] 101. When the wheel speed difference is greater than a first threshold, the ESC (Electronic Stability Control) sends a torque reduction instruction to the MCU.

[0058] 102, MCU executes the torque reduction instruction. During the process of MCU executing the torque reduction instruction, the vehicle speed continues to increase.

[0059] 103. During the process of outputting torque, the MCU detects whether the motor speed and the whole vehicle resonate.

[0060] 104. When the motor speed is detected to be in resonance with the entire vehicle, the MCU determines the fluctuation parameters of the motor speed.

[0061] 105, MCU determines the resonance frequency of the whole vehicle according to the fluctuation parameters of the motor speed.

[0062] 106. The MCU determines the frequency compensation torque according to the resonance frequency of the entire vehicle.

[0063] 107, the MCU compensates the motor output torque according to the frequency compensation torque.

[0064] In an embodiment of the present invention, when the vehicle wheel speed deviation is greater than a first threshold, it is determined that the vehicle is in a slipping state, and the ESC intervenes and performs a preliminary torque reduction on the vehicle by reducing the torque command. After the initial torque reduction on the vehicle, the vehicle speed is still rising. When the vehicle speed reaches a certain level, the motor speed and the whole vehicle will resonate, and the vehicle will continue to shake. Among them, after the initial torque reduction on the vehicle, the MCU detects whether the motor speed and the whole vehicle resonate. When the motor speed and the whole vehicle resonate, the MCU determines the fluctuation parameters of the motor speed. According to the fluctuation parameters of the motor speed, the resonance frequency of the whole vehicle can be determined. In an embodiment of the present invention, the frequency compensation torque is calculated according to the resonance frequency of the whole vehicle to compensate for the motor output torque, thereby suppressing the jitter caused by the resonance of the whole vehicle during the acceleration of the vehicle.

[0065] In some test examples, it is assumed that the motor's inherent anti-shake compensation frequency is 8Hz, and it is applied to the low-adhesion road anti-shake compensation of three types of vehicles: SUV, sedan and MPV.

[0066] Test vehicle information includes:

[0067] ①The curb weight of the SUV model is 2100kg and the tire size is R19.

[0068] ②The car’s curb weight is 1800kg and the tire size is R18.

[0069] ③MPV model curb weight is 2500kg, tire size is R20.

[0070] The test conditions include: three types of vehicles are on a slippery and low-adhesion road with a road adhesion coefficient between 0.3 and 0.4. The accelerator is fully pressed to start the vehicle moving until a stable speed is reached.

[0071] The test principles include: all three models are equipped with ESC function. When the wheel speed is detected to be abnormal, intervention control is carried out to reduce the torque output of the slipping wheel, restore the normal speed by suppressing the rapidly rising speed, and control the reduction of the motor torque output, so that the speed is suppressed and the vehicle speed is stabilized.

[0072] Test results: After fully stepping on the accelerator, the vehicle skidded on the slippery road at 13-20 km / h in the first section. After the speed fluctuated and stabilized at 20 km / h, the motor speed and torque continued to shake. The whole vehicle continued to shake. The performance of the three vehicles was basically the same. Figure 2 The performance of SUV models is shown.

[0073] It can also be seen from the above test examples that after the test vehicle accelerates on a low-adhesion road surface and the speed stabilizes at a certain level, the entire vehicle experiences continuous shaking.

[0074] In order to better eliminate the vehicle's driving vibration on low-adhesion roads, it is necessary to study the resonance phenomenon of the whole vehicle. The resonance of the whole vehicle mainly refers to the strong vibration phenomenon caused when the frequency of the vehicle tire vibration meets the natural frequency of the suspension system. At various vehicle speeds, the natural frequency of the suspension system remains unchanged, but the tire speed and its disturbance frequency also increase as the vehicle speed increases, and eventually intersect with the natural frequency of the suspension system to form a resonance point, at which the amplitude is the largest and the vibration is the strongest. The operating environment of the vehicle on the road is very complex, and the vibration frequency distribution is very wide, mainly including rigid body motion, structural vibration, panel resonance, noise and howling. The specific values ​​of the resonance frequency range of the whole vehicle are as follows:

[0075] ①Body resonance frequency: 1~1.5Hz;

[0076] ② Wheel beating frequency: 10~12Hz;

[0077] ③The resonance frequency of passengers on the seats: 4~6Hz;

[0078] ④The resonant frequency of the mounted powertrain: 10~20Hz;

[0079] ⑤Tire resonance frequency: 30~50Hz.

[0080] Since the vehicle itself has a resonant frequency, after the vehicle speed increases to a certain speed, the resonant frequency of the vehicle resonates with the vibration frequency of the motor, resulting in a greatly amplified amplitude. At this time, the vehicle produces a severe shaking effect. Therefore, the embodiment of the present invention can determine whether the motor speed and the whole vehicle resonate from the motor speed performance. Specifically, the MCU continuously obtains the motor speed, and the continuously obtained motor speed forms a first motor speed waveform. When the amplitude of the first motor speed waveform is greater than the second threshold, it is determined that the motor speed and the whole vehicle resonate.

[0081] In some specific examples, when the amplitude of the first motor speed waveform is greater than 150 rpm, it is determined that the motor speed and the entire vehicle strongly resonate.

[0082] In order to solve the problem of motor speed and vehicle resonance, it is necessary to find out the resonant frequency of the vehicle itself. In some embodiments, the resonant frequency of the whole vehicle can be obtained in the vibration period after the motor stabilizes its speed. Specifically, the motor speed waveform after the motor speed and the whole vehicle resonate is determined to be the second motor speed waveform. According to the second motor speed waveform, the fluctuation parameters of the motor speed can be determined, and the fluctuation parameters of the motor speed include the period and / or fluctuation frequency of the motor speed. The period and / or fluctuation frequency of the motor speed are converted into the resonant frequency of the whole vehicle.

[0083] In some embodiments, the period of the motor speed is T, according to the formula The whole vehicle resonance frequency can be determined to be f. In one example, the period T of the motor speed is 0.1 seconds, and the calculated whole vehicle resonance frequency f is 10 Hz.

[0084] like Figure 3 As shown, when the amplitude of the motor speed is detected to be greater than 150rpm, the whole vehicle resonance frequency is calculated according to one or more motor speed waveforms. The one or more motor speed waveforms may be a current motor speed waveform with an amplitude greater than 150rpm, or may be one or more motor speed waveforms after the current speed waveform. The whole vehicle resonance frequency is calculated according to the one or more motor speed waveforms.

[0085] After the vehicle resonance frequency is determined, the first compensation torque can be determined according to the maximum compensation limit value of the motor torque and the vibration amplitude of the motor speed; the frequency compensation torque can be determined according to the vehicle resonance frequency and the first compensation torque. The motor output torque can be compensated according to the frequency compensation torque.

[0086] In some embodiments, the method of determining the first compensation torque includes: determining the amplitude fluctuation value of the motor speed after the motor speed resonates with the whole vehicle, determining the torque compensation percentage according to the amplitude fluctuation value of the motor speed, and determining the first compensation torque according to the maximum compensation limit value of the motor torque and the torque compensation percentage.

[0087] In some examples, the amplitude fluctuation value of the motor speed may be the difference between the peak values ​​of the motor speed. Optionally, the torque compensation percentage may be set to S.

[0088]

[0089] like Figure 3 As shown, when the amplitude of the motor speed is greater than F0=150rpm, the amplitude fluctuation value (F2-F1) of the motor speed is determined according to the peak value F2 and the trough value F1 of the motor speed waveform, and the torque compensation percentage S is calculated according to the above formula.

[0090] The motor speed waveform used to calculate S can be the current waveform with an amplitude greater than F0, or the first waveform after the amplitude is greater than F0. Of course, S can also be calculated based on several waveforms with amplitudes greater than F0. For example, the S corresponding to each waveform can be calculated, and the average of the calculated Ss can be calculated to obtain the final S.

[0091] After the torque compensation percentage is determined, the product of the torque compensation percentage and the maximum compensation limit value of the motor torque can be used as the first compensation torque N0.

[0092] In some examples, the maximum compensation limit value of the motor torque is 10 Nm. Then, the first compensation torque N0 = 10*S, where S is the torque compensation percentage. In some examples, different maximum compensation limit values ​​of the motor torque can be set for different vehicle models.

[0093] In some examples, the frequency compensation torque is set to N1, N1 = f*k*N0. Wherein, f is the resonance frequency of the whole vehicle; k is the frequency compensation coefficient, which is a known value; N0 is the first compensation torque. The motor output torque can be compensated according to N1.

[0094] like Figure 4 As shown, the processing flow of the motor torque compensation method of the embodiment of the present invention includes:

[0095] When the wheel speed difference is greater than 30rpm, ESC intervenes and triggers a torque reduction command.

[0096] The MCU executes the torque reduction command, and the motor performs preliminary torque reduction. During the torque reduction process of the MCU, the vehicle speed continues to increase.

[0097] When the amplitude of the motor speed waveform is greater than 150rpm, the MCU determines that the entire vehicle is resonating and shaking.

[0098] The MCU determines the fluctuation parameters of the motor speed.

[0099] The MCU locks the resonance frequency of the entire vehicle.

[0100] The MCU determines the frequency compensation torque according to the resonance frequency of the entire vehicle.

[0101] The motor outputs compensation torque.

[0102] The motor speed fluctuation is reduced and the resonance of the whole vehicle is suppressed.

[0103] By using the method of the embodiment of the present invention, the vehicle vibration can be effectively suppressed within a short time when the whole vehicle resonates and vibrates, thereby ensuring the safety of the vehicle.

[0104] The method of the embodiment of the present invention was used to test three types of vehicles: SUV, sedan and MPV. It was found that the compensation effect of sedan was best at 10Hz, the compensation effect of SUV was best at 11Hz, and the compensation effect of MPV was best at 12Hz. Figure 5 As shown, after the motor speed and torque are compensated according to the method of the embodiment of the present invention, the continuous shaking of the vehicle can be well suppressed when the vehicle speed is increased to 20km / h.

[0105] Corresponding to the above method, an embodiment of the present invention provides a motor torque compensation device. The motor torque compensation device can be deployed in a motor controller. Figure 6 As shown, the device comprises:

[0106] The torque reduction module 601 is used to reduce the motor output torque according to the torque reduction instruction sent by the electronic stability system ESC, wherein the torque reduction instruction is sent by the ESC when the wheel speed difference is greater than a first threshold.

[0107] The detection module 602 is used to detect the motor speed and the resonance of the whole vehicle.

[0108] The determination module 603 is used to determine the fluctuation parameters of the motor speed; determine the resonance frequency of the whole vehicle according to the fluctuation parameters of the motor speed; and determine the frequency compensation torque according to the resonance frequency of the whole vehicle.

[0109] The torque compensation module 604 is used to compensate the motor output torque according to the frequency compensation torque.

[0110] The motor torque compensation device of the embodiment of the present invention can execute the motor torque compensation method of the embodiment shown above. For the parts not described in detail in the embodiment of the present invention, reference can be made to the relevant description of the method embodiment. The execution process and technical effects of the technical solution can be referred to the description in the method embodiment, which will not be repeated here.

[0111] See also Figure 7 , is a schematic diagram of the structure of a motor torque compensation device provided by an embodiment of the present invention. The motor torque compensation device may be, for example, a motor controller. Figure 7 As shown, the motor torque compensation device 700 may include: a processor 701, a memory 702 and a communication unit 703. These components communicate through one or more buses. Those skilled in the art can understand that the structure of the motor torque compensation device shown in the figure does not constitute a limitation on the embodiment of the present application. It can be a bus structure or a star structure, and can also include more or fewer components than shown in the figure, or combine certain components, or arrange components differently.

[0112] The communication unit 703 is used to establish a communication channel so that the motor torque compensation device can communicate with other devices, receive data sent by other devices or send data to other devices.

[0113] The processor 701 is the control center of the motor torque compensation device. It uses various interfaces and lines to connect various parts of the entire motor torque compensation device. It runs or executes software programs, instructions, and / or modules stored in the memory 702, and calls data stored in the memory to perform various functions and / or process data of the motor torque compensation device. The processor can be composed of an integrated circuit (IC), for example, it can be composed of a single packaged IC, or it can be composed of multiple packaged ICs with the same or different functions. For example, the processor 701 may include a central processing unit (CPU), a microcontroller unit (MCU), etc.

[0114] The memory 702 is used to store the execution instructions of the processor 701. The memory 702 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0115] When the execution instruction in the memory 702 is executed by the processor 701 , the motor torque compensation device 700 is enabled to execute the motor torque compensation method in the embodiment of the present invention.

[0116] In a specific implementation, the present application further provides a computer storage medium, wherein the computer storage medium may store a program, and when the program is executed, the program may include some or all of the steps in each embodiment of the motor torque compensation method provided in the present application. The storage medium may be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0117] In a specific implementation, the present application also provides a computer program product, wherein the computer program product includes executable instructions, and when the executable instructions are executed on a computer, the computer executes part or all of the steps in each embodiment of the motor torque compensation method provided in the present application.

[0118] The embodiment of the present application also provides a non-temporary computer-readable storage medium, which stores computer instructions, and the computer instructions enable the computer to execute the motor torque compensation method provided by the embodiment of the present application.

[0119] The above-mentioned non-temporary computer-readable storage medium can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (Read Only Memory; hereinafter referred to as: ROM), an erasable programmable read-only memory (ErasableProgrammable Read Only Memory; hereinafter referred to as: EPROM) or flash memory, 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 above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0120] Those skilled in the art can clearly understand that the technology in the embodiments of the present application can be implemented by means of software plus a necessary general hardware platform. Based on this understanding, the technical solution in the embodiments of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which can be stored in a storage medium such as ROM / RAM, a disk, an optical disk, etc., including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application or some parts of the embodiments.

[0121] In this specification, the same or similar parts between the various embodiments can be referred to each other. In particular, for the device embodiment and the terminal embodiment, since they are basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description in the method embodiment.

Claims

1. A motor torque compensation method, characterized in that: The method is applied to a motor controller, comprising: reducing the motor output torque according to a torque reduction command sent by an electronic stability control system (ESC), wherein the torque reduction command is sent by the ESC when the wheel speed difference is greater than a first threshold; When the motor speed and the whole vehicle resonance are detected, the fluctuation parameters of the motor speed are determined; Determining the resonance frequency of the whole vehicle according to the fluctuation parameter of the motor speed; Determining a frequency compensation torque according to the whole vehicle resonance frequency; The motor output torque is compensated according to the frequency compensation torque.

2. The method according to claim 1, characterized in that The detecting of the motor speed and the resonance of the whole vehicle includes: Determine a first motor speed waveform; When the amplitude of the first motor speed waveform is greater than a second threshold, it is determined that the motor speed resonates with the entire vehicle.

3. The method according to claim 1, characterized in that The step of determining the fluctuation parameter of the motor speed comprises: Determine the second motor speed waveform after the motor speed resonates with the entire vehicle; Determining a fluctuation parameter of the motor speed according to the second motor speed waveform; The fluctuation parameter includes a period and / or a fluctuation frequency of the motor speed.

4. The method according to claim 1, characterized in that: The determining the resonance frequency of the whole vehicle according to the fluctuation parameter of the motor speed includes: The fluctuation parameters of the motor speed include period and / or fluctuation frequency; The period and / or fluctuation frequency of the motor speed is converted into the resonance frequency of the whole vehicle.

5. The method according to claim 1, characterized in that The determining of the frequency compensation torque according to the whole vehicle resonance frequency includes: Determining a first compensation torque according to a maximum compensation limit value of the motor torque and a vibration amplitude of the motor speed; The frequency compensation torque is determined according to the whole vehicle resonance frequency and the first compensation torque.

6. The method according to claim 5, characterized in that The step of determining the first compensation torque according to the maximum compensation limit value of the motor torque and the vibration amplitude of the motor speed includes: Determine the amplitude fluctuation value of the motor speed after the motor speed resonates with the vehicle; determining a torque compensation percentage according to the amplitude fluctuation value; The first compensation torque is determined according to the motor torque maximum compensation limit value and the torque compensation percentage.

7. The method according to claim 5 or 6, characterized in that: Set different maximum motor torque compensation limit values ​​according to different vehicle models.

8. A motor torque compensation device, characterized in that: The device is deployed in a motor controller and includes: a torque reduction module, configured to reduce the motor output torque according to a torque reduction instruction sent by an electronic stability system (ESC), wherein the torque reduction instruction is sent by the ESC when the wheel speed difference is greater than a first threshold; Detection module, used to detect motor speed and vehicle resonance; A determination module, used to determine the fluctuation parameters of the motor speed; determine the resonance frequency of the whole vehicle according to the fluctuation parameters of the motor speed; determine the frequency compensation torque according to the resonance frequency of the whole vehicle; The torque compensation module is used to compensate the motor output torque according to the frequency compensation torque.

9. A motor torque compensation device, characterized in that: include: A memory for storing computer program instructions and a processor for executing the program instructions, wherein when the computer program instructions are executed by the processor, the motor torque compensation device is caused to perform the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method according to any one of claims 1 to 7.

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