Motor torque compensation method, device and storage medium

Abstract

The application relates to the technical field of vehicle control, in particular to a motor torque compensation method, device and storage medium. The method is applied to a motor controller and comprises the following steps: reducing motor output torque according to a reduction torque instruction sent by an electronic stability system (ESC), wherein the reduction torque instruction is sent by the ESC when wheel speed exceeds a first threshold; determining a fluctuation parameter of motor speed when motor speed and vehicle resonance are detected; determining a vehicle resonance frequency according to the fluctuation parameter of the motor speed; determining a frequency compensation torque according to the vehicle resonance frequency; and compensating the motor output torque according to the frequency compensation torque. The embodiment scheme of the application can effectively inhibit vehicle shaking caused by vehicle resonance.

Description

TECHNICAL FIELD

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

[0002] Low adhesion road surface generally refers to a road surface with low friction coefficient, which is easy to cause wheel slip and vehicle out of control, such as wet road surface or icy road surface, etc. On the low adhesion road surface, by adjusting the power output, traction control and stability control of the vehicle, the driving safety and stability of the vehicle can be improved. When the vehicle accelerates on the low adhesion road surface, the vehicle is also prone to shaking phenomenon, which affects the driving experience of the driver and passengers. SUMMARY

[0003] Therefore, the present application provides a motor torque compensation method, device and storage medium, which can effectively inhibit the vehicle shaking caused by the vehicle resonance.

[0004] In a first aspect, an embodiment of the present application 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 instruction sent by an electronic stability system ESC, wherein the torque reduction instruction is sent by the ESC when the wheel speed exceeds a first threshold value;

[0006] when the motor speed and the vehicle resonance are detected, determining a fluctuation parameter of the motor speed;

[0007] determining a vehicle resonance frequency according to the fluctuation parameter of the motor speed;

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

[0009] compensating the motor output torque according to the frequency compensation torque.

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

[0011] determining a first motor speed waveform;

[0012] when the amplitude of the first motor speed waveform is greater than a second threshold value, determining that the motor speed and the vehicle resonance occur.

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

[0014] determining a second motor speed waveform after the motor speed and the vehicle resonance occur;

[0015] determining the fluctuation parameter of the motor speed according to the second motor speed waveform.

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

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

[0018] The fluctuation parameter of the motor speed includes a period and / or a fluctuation frequency of the motor speed.

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

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

[0021] The first compensation torque is determined according to a maximum compensation limit value of the motor torque and a vibration amplitude value of the motor speed.

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

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

[0024] The amplitude fluctuation value of the motor speed after the motor speed and the vehicle resonate;

[0025] The torque compensation percentage is determined according to the amplitude fluctuation value.

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

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

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

[0029] The torque reduction module is 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 exceeds a first threshold value.

[0030] The detection module is configured to detect that the motor speed and the vehicle resonate.

[0031] The determination module is configured to determine a fluctuation parameter of the motor speed, determine a vehicle resonance frequency according to the fluctuation parameter of the motor speed, and determine a frequency compensation torque according to the vehicle resonance frequency.

[0032] A torque compensation module is configured to compensate for a motor output torque according to the frequency compensation torque.

[0033] In a third aspect, an embodiment of the present application provides a motor torque compensation device, comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, cause the motor torque compensation device to perform the method of the first aspect or any one of the first aspect.

[0034] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, comprising stored program, wherein the program, when running, controls a device where the computer readable storage medium is located to perform the method of the first aspect or any one of the first aspect.

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

[0036] In the embodiment of the present application, when the vehicle wheel speed exceeds the first threshold value, it is determined that the vehicle is in a slipping state, and the ESC intervenes and preliminarily reduces the torque of the vehicle by reducing the torque instruction. After the torque of the vehicle is preliminarily reduced, the vehicle speed is still rising. When the vehicle speed reaches a certain degree, the motor speed and the whole vehicle will resonate, and the vehicle will continue to vibrate. After the torque of the vehicle is preliminarily reduced, 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 parameter of the motor speed. According to the fluctuation parameter of the motor speed, the resonance frequency of the whole vehicle can be determined. In the embodiment of the present application, the frequency compensation torque is calculated according to the resonance frequency of the whole vehicle, so as to compensate for the motor output torque, thereby inhibiting the vibration of the vehicle caused by the resonance of the whole vehicle during acceleration. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 A flowchart of a motor torque compensation method provided by the embodiment of the present application is shown in the figure;

[0038] Figure 2 A schematic diagram of motor speed and torque fluctuation provided by the embodiment of the present application is shown in the figure;

[0039] Figure 3 A motor speed waveform diagram for calculating the fluctuation parameter of the motor speed provided by the embodiment of the present application is shown in the figure;

[0040] Figure 4 A processing flowchart of a motor torque compensation method provided by the embodiment of the present application is shown in the figure;

[0041] Figure 5 A schematic diagram of motor speed fluctuation being inhibited provided by the embodiment of the present application is shown in the figure;

[0042] Figure 6 A structural schematic diagram of a motor torque compensation device provided for an embodiment of the present application is shown in the figure.

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

[0044] In order to better understand the technical solutions 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 some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall 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 the plural forms, unless the context clearly indicates otherwise.

[0047] It should be understood that the term "and / or" used herein is only to describe the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " in this paper generally represents that the front and rear associated objects are in an "or" relationship.

[0048] On low adhesion road surface, the vehicle may appear motor speed or torque jitter at a certain vehicle speed, at which time the whole vehicle driving experience is in a jitter state, which brings panic or fault state judgment to the driver.

[0049] In order to solve the problem of vehicle jitter on low adhesion road surface, it is necessary to understand the source of motor jitter, which mainly includes two aspects:

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

[0051] (2) The motor torque of electric vehicle often changes frequently and greatly in driving conditions, and there is a transmission gear surface switching caused by torque direction change. Due to the under-damping characteristics caused by the relatively simple transmission system, the vehicle is prone to whole vehicle jitter problem in the following working conditions: whole vehicle starting, rapid throttle increasing, rapid throttle decreasing, acceleration condition to energy recovery condition transition and exiting energy recovery.

[0052] The motor drives the shaft-gear engagement-gear drive shaft-wheel load forms a vehicle transmission chain, through which the vehicle can be driven. In the whole vehicle control angle, the control instruction applied to the motor is mainly the torque instruction. Therefore, a relationship can be established, that is, according to the vehicle vibration performance, the corresponding torque is calculated to eliminate the jitter.

[0053] A way to eliminate such jitter in the related art includes filtering the motor speed, calculating a compensation torque according to the difference between the motor speed before and after filtering, and superimposing the compensation torque on the driver torque to suppress vehicle jitter.

[0054] The above-mentioned way to eliminate vehicle jitter in the related art does not consider the influence of changes in whole vehicle parameters, and the jitter suppression effect is general and cannot completely take effect. Therefore, it is necessary to study the inherent vibration frequency of the whole vehicle itself and the motor speed resonance, which causes the continuous jitter of the whole vehicle at a certain speed stage during the full throttle starting acceleration stage.

[0055] Based on the above analysis, the motor torque compensation method provided by the embodiments of the present application determines the resonance frequency of the whole vehicle itself when the motor speed and the whole vehicle resonate, and compensates the motor output torque based on the resonance frequency of the whole vehicle itself, thereby suppressing the continuous jitter of the whole vehicle due to the whole vehicle resonance when accelerating to a certain stage.

[0056] Referring to Figure 1 A flowchart of a motor torque compensation method provided by the embodiments of the present application. Figure 1 The execution subject of the method is a motor controller, which can be specifically implemented as an MCU. As shown in Figure 1 The processing steps of the method include:

[0057] 101, when the wheel speed exceeds the first threshold value, the ESC (Electronic Stability Control) sends a torque reduction instruction to the MCU.

[0058] 102, the MCU executes the torque reduction instruction. During the execution of the torque reduction instruction by the MCU, the vehicle speed continues to rise.

[0059] 103, the MCU detects whether the motor speed and the whole vehicle resonate during the output of the torque.

[0060] 104, when the motor speed and the whole vehicle resonate are detected, the MCU determines the fluctuation parameter of the motor speed.

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

[0062] 106, the MCU determines the frequency compensation torque according to the whole vehicle resonance frequency.

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

[0064] In the embodiment of the application, when the vehicle wheel speed exceeds the first threshold value, it is determined that the vehicle is in a slipping state, the ESC intervenes and preliminarily reduces the torque of the vehicle by reducing the torque instruction. After the vehicle is preliminarily reduced in torque, the vehicle speed is still rising. When the vehicle speed reaches a certain degree, the motor speed and the whole vehicle will resonate, and the vehicle will continue to vibrate. Among them, after the vehicle is preliminarily reduced in torque, 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 parameter of the motor speed. According to the fluctuation parameter of the motor speed, the whole vehicle resonance frequency can be determined. In the embodiment of the application, the frequency compensation torque is calculated according to the whole vehicle resonance frequency, so as to compensate the motor output torque, thereby suppressing the vibration of the whole vehicle caused by the whole vehicle resonance during the acceleration of the vehicle.

[0065] In some test examples, assuming that the motor inherent anti-vibration compensation frequency is 8Hz, it is applied to the low-attached road anti-vibration compensation of SUV, sedan and MPV three vehicle types. Among them,

[0066] The test vehicle information includes:

[0067] ① The prepared mass of the SUV vehicle is 2100kg, and the tire size is R19.

[0068] ② The prepared mass of the sedan is 1800kg, and the tire size is R18.

[0069] ③ The prepared mass of the MPV vehicle is 2500kg, and the tire size is R20.

[0070] The test working condition includes that the three vehicle types are on a wet and slippery low-attached road, the road adhesion coefficient is between 0.3 and 0.4, the full throttle is stepped on to make the whole vehicle start to drive, and the stable vehicle speed is reached.

[0071] The test principle includes that the three vehicle types all have the ESC function, when the wheel speed exceeds the abnormal threshold value, the control is intervened to reduce the output torque of the slipping wheel, the normal speed is restored from the rapid rising speed, the motor torque output is reduced, so that the speed of the vehicle is inhibited, and the speed is stabilized.

[0072] Test results: after stepping on the full throttle, the vehicle appears a front 13-20km / h slip on the wet road, the speed fluctuates and stabilizes at 20km / h, and the motor speed and torque continue to vibrate, the whole vehicle appears a continuous vibration feeling, and the three vehicles perform basically the same, as shown in the following figure. Figure 2 ​

[0073] From the above test examples, it can also be seen that the test vehicle accelerates on the low adhesion road and the whole vehicle appears continuous shaking phenomenon after the vehicle speed is stabilized to a certain extent.

[0074] In order to better eliminate the driving shaking feeling of the vehicle on the low adhesion road, it is necessary to study the whole vehicle resonance phenomenon. The whole vehicle resonance mainly refers to the strong vibration phenomenon caused when the frequency of the tire vibration of the vehicle meets the natural frequency of the suspension system. At various vehicle speeds, the natural frequency of the suspension system is constant, but the disturbance frequency of the tire speed increases with the increase of the vehicle speed, and finally crosses the natural frequency of the suspension system to form a resonance point, at which the amplitude is maximum and the vibration feeling is strongest. The running environment of the vehicle on the road is very complex, and the vibration frequency distribution is wide, mainly including rigid body motion, structure vibration, plate resonance, noise and whistling, etc. The specific numerical values of the whole vehicle resonance frequency range are as follows:

[0075] ① Vehicle body resonance frequency: 1-1.5 Hz;

[0076] ② Wheel bounce frequency: 10-12 Hz;

[0077] ③ Passenger resonance frequency on the seat: 4-6 Hz;

[0078] ④ Suspended powertrain resonance frequency: 10-20 Hz;

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

[0080] Since the whole vehicle itself has a resonance frequency, when the vehicle speed increases to a certain vehicle speed, the whole vehicle resonance frequency and the motor shaking frequency resonate, resulting in a large amplitude amplification, at which time the vehicle produces a violent shaking effect. Therefore, the motor speed and the whole vehicle resonance can be determined from the motor speed performance in the embodiments of the present application. Specifically, the MCU continuously acquires the motor speed, and the continuously acquired motor speed forms a first motor speed waveform. When the amplitude of the first motor speed waveform is greater than a second threshold value, 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 whole vehicle resonate strongly.

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

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

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

[0085] After determining the whole vehicle resonance frequency, the first compensation torque can be determined according to the motor torque maximum compensation limit value and the amplitude of the motor speed vibration. The frequency compensation torque can be determined according to the whole 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 and the whole vehicle resonate. The torque compensation percentage is determined according to the amplitude fluctuation value of the motor speed. The first compensation torque is determined according to the motor torque maximum compensation limit value and the torque compensation percentage.

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

[0088]

[0089] As shown in Figure 3 When the amplitude of the motor speed is greater than F0=150 rpm, 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] Wherein, 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 according to several waveforms with an amplitude greater than F0. For example, the S corresponding to each waveform can be calculated, and the average of the calculated several S is taken to obtain the final S.

[0091] After determining the torque compensation percentage, the product of the torque compensation percentage and the motor torque maximum compensation limit value is taken as the first compensation torque N0.

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

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

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

[0095] When the wheel speed exceeds 30 rpm, the ESC intervenes and triggers the torque reduction instruction.

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

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

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

[0099] The MCU locks the vehicle resonance frequency.

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

[0101] The motor outputs the compensation torque.

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

[0103] Through the method of the embodiment of the present application, the vehicle jitter can be effectively suppressed in a short time when the vehicle resonance occurs, and the safety of the vehicle is ensured.

[0104] By using the method of the embodiment of the present application, tests are conducted on SUV, sedan and MPV three types of vehicles, and it is found that the compensation effect of the sedan is best at 10 Hz, the compensation effect of the SUV is best at 11 Hz, and the compensation effect of the MPV is best at 12 Hz. As shown in Figure 5 , after the motor speed and torque are compensated according to the method of the embodiment of the present application, the continuous jitter of the vehicle can be well suppressed when the vehicle speed is raised to 20 km / h.

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

[0106] A torque reduction module 601 is 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 exceeds a first threshold.

[0107] A detection module 602 is configured to detect the motor speed and the vehicle resonance.

[0108] A determination module 603 is configured to determine a fluctuation parameter of the motor speed, determine a vehicle resonance frequency according to the fluctuation parameter of the motor speed, and determine a frequency compensation torque according to the vehicle resonance frequency.

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

[0110] The motor torque compensation device provided by the embodiment of the present application can execute the motor torque compensation method of the above-mentioned embodiment. The parts not described in detail in the embodiment of the present application can refer to the related description of the method embodiment. The execution process and technical effects of the technical solution can refer to the description in the method embodiment, and will not be described here.

[0111] Referring to Figure 7 , a structural schematic diagram of a motor torque compensation device provided by the embodiment of the present application is shown. The motor torque compensation device may, for example, be a motor controller. As shown in the figure, Figure 7 The motor torque compensation device 700 may, for example, include a processor 701, a memory 702 and a communication unit 703. These components communicate through one or more buses, and 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 embodiments of the present application. It can be a bus structure, or a star structure, and can include more or fewer components than shown in the figure, or combine some components, or different component arrangements.

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

[0113] The processor 701 is the control center of the motor torque compensation device, connects each part of the motor torque compensation device by various interfaces and lines, executes the software programs, instructions and / or modules stored in the memory 702, and calls the data stored in the memory to perform various functions of the motor torque compensation device and / or process data. The processor can be composed of an integrated circuit (IC), for example, can be composed of a single packaged IC, or can be composed of multiple packaged ICs connected together. For example, the processor 701 can 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 instructions in the memory 702 are executed by the processor 701, the motor torque compensation device 700 can execute the motor torque compensation method in the embodiments of the present application.

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

[0117] In specific implementations, the present application also provides a computer program product, wherein the computer program product contains executable instructions, and when the executable instructions are executed on a computer, the computer executes some or all steps in the embodiments of the motor torque compensation method provided by the present application.

[0118] The embodiments of the present application also provide a non-transitory computer readable storage medium, which stores computer instructions, and the computer instructions make the computer execute the motor torque compensation method provided by the embodiments of the present application.

[0119] The non-transitory computer-readable storage medium described above 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 may, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or apparatus, or any combination thereof. More specific examples (a non-exhaustive list) of the computer-readable storage medium include an electrical connection having one or more wires, a portable computer diskette, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, the computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus, or device.

[0120] Those skilled in the art can clearly understand that the technology in the embodiments of the present application can be realized by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solutions in the embodiments of the present application can be embodied in the form of a software product, which can be stored in a storage medium, such as a ROM / RAM, a magnetic disk, or an optical disk, and includes a plurality of instructions to cause a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments of the present application.

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

Claims

1. A method for motor torque compensation, characterized in that, The method is applied to a motor controller and includes: According to the torque reduction command sent by the Electronic Stability Control (ESC), the output torque of the motor is reduced. The torque reduction command is sent by the ESC when the wheel speed exceeds a first threshold. When resonance between motor speed and the entire vehicle is detected, the fluctuation parameters of the motor speed are determined. The vehicle resonance frequency is determined based on the fluctuation parameters of the motor speed. The frequency compensation torque is determined based on the vehicle's overall resonance frequency. The motor output torque is compensated based on the frequency compensation torque. The detection of motor speed and vehicle resonance includes: Determine the waveform of the first motor's speed; 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 are resonating. The parameters for determining the fluctuation of the motor speed include: Determine the second motor speed waveform after the motor speed and the vehicle resonance; Based on the second motor speed waveform, determine the fluctuation parameters of the motor speed; The fluctuation parameters include the period and / or fluctuation frequency of the motor speed; The step of determining the frequency compensation torque based on the vehicle's resonance frequency includes: The first compensation torque is determined based on the maximum compensation limit of the motor torque and the vibration amplitude of the motor speed. The frequency compensation torque is determined based on the vehicle resonance frequency and the first compensation torque. The step of determining the first compensation torque based on the maximum compensation limit of the motor torque and the vibration amplitude of the motor speed includes: After the motor speed and the whole vehicle resonate, determine the amplitude fluctuation value of the motor speed; The torque compensation percentage is determined based on the amplitude fluctuation value. The first compensation torque is determined based on the maximum compensation limit of the motor torque and the torque compensation percentage.

2. The method according to claim 1, characterized in that, Determining the vehicle resonance frequency based on the fluctuation parameters of the motor speed includes: The fluctuation parameters of the motor speed include the period and / or the fluctuation frequency; The period and / or fluctuation frequency of the motor speed are converted into the vehicle's resonant frequency.

3. The method according to claim 1, characterized in that, Different maximum motor torque compensation limits are set for different vehicle models.

4. A motor torque compensation device, characterized in that, The device is deployed on the motor controller and includes: The torque reduction module is used to reduce the output torque of the motor according to the torque reduction command sent by the electronic stability system (ESC). The torque reduction command is sent by the ESC when the wheel speed exceeds a first threshold. The detection module is used to detect motor speed and vehicle resonance. The determination module is used to determine the fluctuation parameters of the motor speed; determine the vehicle resonance frequency based on the fluctuation parameters of the motor speed; and determine the frequency compensation torque based on the vehicle resonance frequency. A torque compensation module is used to compensate for the output torque of the motor according to the frequency. Specifically, the detection module is used to: determine the first motor speed waveform; and when the amplitude of the first motor speed waveform is greater than a second threshold, determine that the motor speed and the whole vehicle resonate. The determining module determines the fluctuation parameters of the motor speed, including: Determine the second motor speed waveform after the motor speed and the vehicle resonance; Based on the second motor speed waveform, determine the fluctuation parameters of the motor speed; The fluctuation parameters include the period and / or fluctuation frequency of the motor speed; The determining module determines the frequency compensation torque based on the vehicle's resonance frequency, including: The first compensation torque is determined based on the maximum compensation limit of the motor torque and the vibration amplitude of the motor speed. The frequency compensation torque is determined based on the vehicle resonance frequency and the first compensation torque. The step of determining the first compensation torque based on the maximum compensation limit of the motor torque and the vibration amplitude of the motor speed includes: After the motor speed and the whole vehicle resonate, determine the amplitude fluctuation value of the motor speed; The torque compensation percentage is determined based on the amplitude fluctuation value. The first compensation torque is determined based on the maximum compensation limit of the motor torque and the torque compensation percentage.

5. 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 performs the method according to any one of claims 1 to 3.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the method according to any one of claims 1 to 3.

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