Flutter control method, electronic equipment, computer readable storage medium, electronic and electrical system and vehicle

Abstract

The invention discloses a flutter control method, electronic equipment, an electronic and electrical system, a computer readable storage medium and a vehicle, the flutter control method comprises the steps that a target device is controlled based on a target control signal, the target control signal is obtained according to a flutter current correction signal and a target control current, and the target control signal is obtained according to the flutter current correction signal and the target control current; the flutter current correction signal is obtained according to the flutter current sampling values of the target device in a plurality of flutter sampling periods. According to the method, the flutter current fluctuation can be reduced, the flutter stability can be enhanced, the flutter control precision can be improved, the deviation can be reduced, the flutter current can be adjusted more directly and accurately, the corrected flutter current is prevented from being distorted, and the expected control target is achieved.

Description

Technical Field

[0001] The present invention relates to the field of vehicles, and in particular to a vibration control method, an electronic device, a computer-readable storage medium, an electronic and electrical system, and a vehicle. Background Art

[0002] In order to reduce the initial movement resistance of a target device, such as a solenoid valve, a dither current is generally added to the control current of the target device. However, if the dither current deviates from expectations, the control purpose may not be achieved and the device may be damaged. There are also solutions for adjusting the dither current of the device in the related art, but such solutions are not accurate enough to adjust the dither current and cannot achieve the expected control target. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a dither control method, which can reduce the fluctuation of dither current, enhance the dither stability, improve the dither control accuracy, reduce the deviation, make the dither current regulation more direct and accurate, avoid the distortion of the dither current that has been corrected, and achieve the expected control target.

[0004] A second objective of the present invention is to provide an electronic device.

[0005] A third object of the present invention is to provide a computer-readable storage medium.

[0006] A fourth objective of the present invention is to provide an electronic and electrical system.

[0007] A fifth object of the present invention is to provide a vehicle.

[0008] In order to solve the above problems, an embodiment of a first aspect of the present invention provides a flutter control method, comprising: controlling a target device based on a target control signal, wherein the target control signal is obtained based on a flutter current correction signal and a target control current, and the flutter current correction signal is obtained based on flutter current sampling values ​​of the target device in multiple flutter sampling periods.

[0009] According to the dither control method of the embodiment of the present invention, a dither current correction signal is obtained through the dither current sampling values ​​within a plurality of dither sampling periods, a target control signal is obtained according to the dither current correction signal and the target control current, dither control is performed with the target control signal, and correction is performed based on the dither current sampling values ​​within a plurality of dither sampling periods. This can reduce dither current fluctuations, enhance dither stability, improve dither control accuracy, reduce deviations, make dither current regulation more direct and accurate, avoid distortion of the dither current that has been corrected, and achieve the expected control target.

[0010] In some embodiments, the flutter current correction signal is obtained based on a flutter current correction coefficient and a flutter current calculation value; wherein the flutter current correction coefficient is obtained based on an actual flutter current amplitude and a target flutter current amplitude; and the actual flutter current amplitude is obtained based on the flutter current sampling values ​​within each of the flutter sampling periods.

[0011] In some embodiments, the actual dither current amplitude is obtained based on the maximum dither current sampling value and the minimum dither current sampling value of each dither sampling period; wherein the maximum dither current sampling value is the maximum value among the multiple dither current sampling values ​​of the dither sampling period, and the minimum dither current sampling value is the minimum value among the multiple dither current sampling values ​​of the dither sampling period.

[0012] In some embodiments, the flutter current sampling value of each of the flutter sampling cycles is acquired at a preset sampling point on the working current waveform corresponding to the target device; wherein the preset sampling point includes a sampling point within a preset time including a peak point on the working current waveform corresponding to the flutter sampling cycle, and the preset sampling point also includes a sampling point within a preset time including a trough point on the working current waveform corresponding to the flutter sampling cycle.

[0013] In some embodiments, the actual flutter current amplitude is half of the average difference; the average difference is the difference between the first average value and the second average value; each of the flutter sampling periods has a corresponding maximum flutter current sampling value, the first average value is the average value of multiple maximum flutter current sampling values, each of the flutter sampling periods has a corresponding minimum flutter current sampling value, and the second average value is the average value of multiple minimum flutter current sampling values.

[0014] In some embodiments, the dither current correction coefficient is obtained by calculating and adjusting a proportional-integral closed-loop according to the actual dither current amplitude and the target dither current amplitude.

[0015] In some embodiments, multiple flutter current calculation values ​​are grouped together; each of the flutter current calculation values ​​is calculated based on a target flutter current amplitude, a flutter current calculation index value and a flutter current calculation sequence number; the flutter current calculation index value is the number of the flutter current calculation values ​​in a group of the flutter current calculation values, and 0≤the flutter current calculation sequence number≤the flutter current calculation index value.

[0016] In some embodiments, the dither current calculation index value is obtained according to a control frequency and a target dither frequency of the target device.

[0017] In some embodiments, the dither current correction signal is a corrected dither duty cycle; the corrected dither duty cycle is obtained by correcting the dither duty cycle by using the dither current correction coefficient, wherein the dither duty cycle is obtained by converting the dither current calculated value.

[0018] In some embodiments, the target control current is obtained based on a target dither current and a target set current; wherein, the target dither current is obtained based on the target dither current amplitude, a dither current sampling index value and a dither current sequence number, and 0≤the dither current sequence number≤the dither current sampling index value.

[0019] In some embodiments, the target control signal is obtained by superimposing the corrected dither duty cycle and the control duty cycle; wherein the control duty cycle is obtained by fusing a feedforward duty cycle and a feedback duty cycle, and the feedforward duty cycle and the feedback duty cycle are obtained according to the target control current.

[0020] In some embodiments, the feed-forward duty cycle is obtained according to the target control current, a voltage value of the target device, and a resistance value of the target device.

[0021] In some embodiments, the feedback duty cycle is obtained by performing proportional-integral-differential calculation based on the target control current and the operating current of the target device.

[0022] A second aspect of the present invention provides an electronic device, comprising: at least one processor; a memory communicatively connected to the at least one processor; the memory storing a computer program executable by the at least one processor, wherein the at least one processor implements the vibration control method described in the above embodiment when executing the computer program.

[0023] According to the electronic device of the embodiment of the present invention, the corresponding dither control program can be stored in the memory. When the dither control method is implemented, the processor runs the program in the memory, obtains a dither current correction signal through multiple dither current sampling values, obtains a target control signal according to the dither current correction signal and the target control current, and performs dither control with the target control signal to reduce dither current fluctuations, enhance dither stability, improve dither control accuracy, reduce deviations, make dither current regulation more direct and accurate, avoid distortion of the dither current that has been corrected, and achieve the expected control target.

[0024] According to a third aspect of the present invention, there is provided a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the vibration control method described in the above embodiment when executed.

[0025] A fourth aspect of the present invention provides an electronic and electrical system, comprising: a target device requiring vibration control; a controller, the controller being connected to the target device and being used to control the target device according to the vibration control method described in the above embodiment.

[0026] According to the electronic and electrical system of the embodiment of the present invention, when performing dither control on the target device, the controller controls the current sensor to obtain the dither current sampling values ​​of the target device within multiple dither sampling periods, thereby obtaining a dither current correction signal, and obtains a target control signal according to the dither current correction signal and the target control current. The controller performs dither control on the target device according to the target control signal, reduces the dither current fluctuation, enhances the dither stability, improves the dither control accuracy, reduces the deviation, makes the dither current regulation more direct and accurate, avoids the distortion of the dither current that has been corrected, and achieves the expected control target.

[0027] In some embodiments, the controller includes: a current sampling circuit, which is connected to the target device and used to collect the working current of the target device; a control module, which has an analog-to-digital conversion unit, which is connected to the current sampling circuit, and the analog-to-digital conversion unit is used to convert the analog signal corresponding to the working current into a digital signal.

[0028] In some embodiments, the target device includes a solenoid valve.

[0029] A fifth aspect of the present invention provides a vehicle, the vehicle includes the electronic device described in the above embodiment, or the vehicle includes the computer-readable storage medium of the above embodiment, or the vehicle includes the electronic and electrical system described in the above embodiment.

[0030] According to the vehicle of the embodiment of the present invention, by adopting the above-mentioned electronic device or computer-readable storage medium or electronic and electrical system, the target device in the vehicle is subjected to flutter control according to the target control signal, which can reduce the flutter current fluctuation, enhance the flutter stability, improve the flutter control accuracy, reduce the deviation, make the flutter current regulation more direct and accurate, avoid the distortion of the flutter current that has been corrected, and achieve the expected control target.

[0031] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1is a flow chart of a flutter control method according to an embodiment of the present invention; Figure 2 is a schematic diagram of dither current sampling according to an embodiment of the present invention; Figure 3 is a schematic diagram of closed-loop regulation of dither amplitude according to an embodiment of the present invention; Figure 4 is a schematic diagram of a vibration sampling current calculation conversion and correction process according to an embodiment of the present invention; Figure 5 is a schematic diagram of a target control current calculation process according to an embodiment of the present invention; Figure 6 is a schematic diagram of a control duty cycle calculation process according to an embodiment of the present invention; Figure 7 is a schematic diagram of controlling duty cycle superposition and updating according to an embodiment of the present invention; Figure 8 is a schematic diagram of a solenoid valve current control architecture according to an embodiment of the present invention; Fig. 9 is a flow chart of a flutter control method according to an embodiment of the present invention; Fig.10 is a structural block diagram of an electronic device according to an embodiment of the present invention; Fig.11 is a structural block diagram of an electronic and electrical system according to an embodiment of the present invention; Fig.12 is a structural block diagram of a vehicle according to an embodiment of the present invention; Fig.13 is a structural block diagram of a vehicle according to an embodiment of the present invention.

[0033] Reference numerals: Vehicles 300; Electronic device 100; electronic and electrical system 200; Processor 101 ; memory 102 ; target device 210 ; controller 230 . DETAILED DESCRIPTION

[0034] Embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. Embodiments of the present invention are described in detail below.

[0035] In the related art, in some dither current regulation schemes, the maximum dither current value and the minimum dither current value within a single dither sampling period are collected, and a dither current correction signal is calculated based on the maximum dither current value and the minimum dither current value of the single sampling, wherein the maximum dither current value and the minimum dither current value within a single dither sampling period are both instantaneous dither current values, and there is a lack of a preprocessing process for the collected current values, such as averaging the collected current values ​​and / or filtering the collected current values. Therefore, the dither current correction signal calculated based on the above-mentioned collected current values ​​will have deviations. If the dither current correction signal with deviations is directly superimposed on the target dither current, an error will be formed in the target dither current, and thus the dither current regulation is not accurate enough to achieve the expected control target, which will have an adverse effect on the device.

[0036] In order to solve the above problems, an embodiment of the first aspect of the present invention provides a flutter control method, which can reduce flutter current fluctuations, enhance flutter stability, improve flutter control accuracy, reduce deviations, make flutter current regulation more direct and accurate, avoid distortion of the corrected flutter current, and achieve the expected control target.

[0037] The following describes a vibration control method according to an embodiment of the first aspect of the present invention with reference to the accompanying drawings. In an embodiment of the present invention, when performing dither control, a target device is controlled based on a target control signal, wherein the target control signal is obtained based on a dither current correction signal and a target control current, and the dither current correction signal is obtained based on dither current sampling values ​​of the target device in multiple dither sampling periods.

[0038] In some embodiments, the target device may include a solenoid valve or other device having a dithering current.

[0039] In some embodiments, the above target control signal can be obtained by a control unit of the target device. The flutter current sampling value can be collected by a current sampling circuit in the controller or by other current collection devices and sent to the control unit of the target device.

[0040] Figure 1 is a flow chart of a flutter control method according to an embodiment of the present invention. Figure 1 As shown, the method may include step S1 and step S2.

[0041] Step S1 : obtaining a dither current correction signal, wherein the dither current correction signal is obtained according to dither current sampling values ​​of a target device in a plurality of dither sampling periods.

[0042] Specifically, taking the flutter current control of the solenoid valve as an example, the principle of the flutter control of the solenoid valve is: by adding a low-amplitude and high-frequency flutter current correction signal to the control current of the solenoid valve, the valve core is kept in a weak flutter state in the valve sleeve, thereby reducing the initial movement resistance and improving the dynamic response and stability of the device. Among them, the main functions of the flutter current correction signal include: 1. Solving the problems of hysteresis and friction. For example, the flutter current correction signal maintains a small vibration state in the valve sleeve through high-frequency vibration, thereby reducing static friction and improving the response speed and control accuracy of the solenoid valve. 2. Improving control accuracy. For example, the flutter current correction signal helps to eliminate static hysteresis and reduce the resistance change of the solenoid valve when starting and stopping, thereby improving control accuracy.

[0043] In an embodiment, when performing dither control, a suitable dither sampling period may be determined first, so as to capture rapid changes in the dither current, ensure that the dither current sampling values ​​can be uniformly acquired within a plurality of dither sampling periods, and pre-process the acquired dither current sampling values, for example, including averaging and / or filtering the plurality of dither current sampling values ​​to remove noise, abnormal values, etc., so as to improve the accuracy and reliability of the sampled data. A dither current correction signal is calculated based on the dither current sampling values ​​within a plurality of dither sampling periods, which is not the dither current sampling value at a single moment or a single dither sampling period, so as to reduce the influence of the dither current fluctuation on the sampled data, reduce the deviation, and improve the control accuracy.

[0044] Step S2, obtaining a target control signal to control a target device, wherein the target control signal is obtained according to the dither current correction signal and the target control current.

[0045] In the embodiment, the target control signal can be understood as a control signal that controls the normal operation of the target device and can effectively control the dither current of the target device. The target control current can be understood as a control current that controls the normal operation of the target device. The dither current correction signal is obtained by processing the dither current sampling values ​​within multiple dither sampling periods, rather than being obtained based on the sampling values ​​of a single dither sampling period or the sampling values ​​at a single moment, so that the obtained target control signal is also more accurate.

[0046] For example, in some embodiments, the actual dither current amplitude is obtained according to the dither current in multiple dither sampling periods, and the actual dither current amplitude and the target dither current are calculated through PI closed-loop regulation to obtain the dither current correction coefficient. Then, the target control current is corrected according to the dither current correction coefficient to eliminate or reduce the error caused by dither. The target control current is the current value reached by the target device during normal operation, which can be given artificially according to the demand or calculated according to the relevant formula. After obtaining the dither current correction signal and the target control current, the dither current correction signal and the target control current are used as inputs, and a suitable control algorithm is applied to calculate the target control signal, and the operation of the target device is controlled according to the target control signal.

[0047] According to the dither control method of the embodiment of the present invention, a dither current correction signal is obtained through the dither current sampling values ​​within a plurality of dither sampling periods, a target control signal is obtained according to the dither current correction signal and the target control current, and dither control is performed with the target control signal. The dither current correction signal is obtained based on the sampling values ​​within a plurality of dither sampling periods for correction, which can reduce dither current fluctuations, enhance dither stability, improve dither control accuracy, reduce deviations, make dither current regulation more direct and accurate, avoid distortion of the dither current that has been corrected, and achieve the expected control target.

[0048] In some embodiments, the dither current correction signal is obtained based on a dither current correction coefficient and a dither current calculation value; wherein the dither current correction coefficient is obtained based on an actual dither current amplitude and a target dither current amplitude; and the actual dither current amplitude is obtained based on a dither current sampling value within each dither sampling period.

[0049] Among them, the dither current correction coefficient can be understood as a gain correction value of the actual dither current amplitude and the target dither current amplitude, which can be a negative gain correction value or a positive gain correction value. It can be calculated in the embodiment, as described in the embodiment below. The actual dither current amplitude can be adjusted by the dither current correction coefficient to improve the control accuracy; the target dither current amplitude can be understood as the desired dither current amplitude, which can be set based on the performance or requirements of the device.

[0050] The actual dither current amplitude can be obtained by averaging the dither current sampling values ​​in a plurality of dither sampling periods or performing other operations to reduce the fluctuation influence of a single dither current sampling value and improve the calculation accuracy.

[0051] Specifically, a target dither current amplitude is obtained, and an actual dither current amplitude is obtained according to dither current sampling values ​​in a plurality of dither sampling periods, and then an open-loop or closed-loop adjustment or other calculation is performed according to the actual dither current amplitude and the target dither current amplitude to obtain a dither current correction coefficient. The dither current correction coefficient reflects the deviation of the actual dither current and the target dither current of the target device caused by the dither effect, and the dither current correction coefficient can be used to correct the calculated dither current value.

[0052] In some embodiments, dither current sampling values ​​within a plurality of dither sampling periods are obtained, wherein a maximum dither current sampling value and a minimum dither current sampling value exist within each dither sampling period; wherein the maximum dither current sampling value is the maximum value among the plurality of dither current sampling values ​​within the dither sampling period, and the minimum dither current sampling value is the minimum value among the plurality of dither current sampling values ​​within the dither sampling period; and the actual dither current amplitude is obtained based on the maximum dither current sampling value and the minimum dither current sampling value of each dither sampling period.

[0053] In some embodiments, a single sampling is performed in each of the multiple dither sampling periods, that is, sampling is performed in each dither period to obtain multiple dither current sampling values.

[0054] Specifically, since the dither current fluctuates within a dither sampling period, each dither sampling period includes a maximum dither current sampling value and a minimum dither current sampling value. The maximum dither current sampling value is the maximum value among multiple dither current sampling values ​​in the dither sampling period, that is, the dither current sampling value is located at the dither cycle peak; the minimum dither current sampling value is the minimum value among multiple dither current sampling values ​​in the dither sampling period, that is, the dither current sampling value is located at the dither cycle trough. In each dither sampling period, a high-precision current sensor can be used to record multiple dither sampling current values, and the maximum dither current sampling value and the minimum dither current sampling value are determined from the data of each sampling period. Then, the maximum dither current sampling value and the minimum dither current sampling value of each dither sampling period can be used to calculate the actual dither current amplitude. Considering the maximum dither current sampling value and the minimum dither current sampling value of multiple dither sampling periods can reduce the influence of dither current fluctuation on sampling accuracy, thereby improving the calculation accuracy of the actual dither current amplitude.

[0055] In an embodiment of the present invention, the dither current amplitude correction process and the target control current control process can be run in different time sequences, and the target control current control process can be used as a reference. In the embodiment, in the dither current amplitude correction process, assuming that the number of samples of each dither current sampling value is 4a, and the number of samples b is a dither sampling cycle, the operation cycle of the dither current amplitude correction process is 4ab times the operation cycle of the target control current control process. It should be noted that in the embodiment of the present invention, the target dither current value and the dither current sampling value represent different currents.

[0056] In some embodiments, multiple dither current sampling values ​​of each dither sampling period are acquired at preset sampling points on the working current waveform of the corresponding target device; wherein the preset sampling points include sampling points within a preset time including a peak point on the working current waveform corresponding to the dither sampling period, and the preset sampling points also include sampling points within a preset time including a trough point on the working current waveform corresponding to the dither sampling period.

[0057] Specifically, the current waveform of the target device under normal working conditions is analyzed to understand the characteristics of the waveform, such as peak value, valley value, frequency, phase, etc. The present invention is applicable to various types of target devices such as solenoid valve control systems. The flutter current waveform superimposed in the control is not limited to a triangular wave, but can be a deformation of these waveforms; according to the characteristics of the current waveform, sampling points are preset on the waveform, and the positions of the preset sampling points should be able to fully reflect the changes in the waveform. The number of sampling points should be determined according to the length of the flutter sampling period and the complexity of the current waveform. Among them, the current waveform of the target device can be displayed by an oscilloscope or other equipment used to measure and display electrical signal waveforms, so as to observe and understand the characteristic information of the current waveform and provide support for the preset sampling points.

[0058] Among them, in the embodiment, the actual dither current amplitude is obtained based on the dither current sampling value, and the more the dither current sampling value reflects the actual real dither current change, the more accurate the actual dither current amplitude is. Therefore, the preset sampling point can be selected near the peak and the trough on the target device current waveform, that is, sampling is performed at the peak and a period of time before the peak and a period of time after the peak, and sampling is performed at the trough and a period of time before the trough and a period of time after the trough, so as to better reflect the change of the waveform.

[0059] The following takes the solenoid valve as an example to illustrate the determination of the preset sampling point of the dither current value. Specifically, the dither current sampling index value N1 is calculated based on the solenoid valve dither sampling frequency (the dither sampling frequency is known) and the target dither frequency, N1 / 2 is the sampling center of the maximum dither current sampling value, and N1 is the sampling center of the minimum dither current sampling value. The sampling index calculation formula is as follows: ; Among them, F S is the vibration sampling frequency, F Dither is the target flutter frequency.

[0060] Specifically, the process of obtaining the dither current sampling value may include: when the sampling sequence number of the dither current sampling value is equal to (N1 / 2)-a, storing 2a times the current working dither current of the solenoid valve; when the sampling sequence number of the dither current sampling value is equal to N1-a, storing a times the current working dither current of the solenoid valve; and at the beginning of the next dither sampling cycle, storing a times the current working dither current of the solenoid valve. The schematic diagram of the preset sampling points for dither current sampling is shown in FIG. Figure 2 As shown, the dither sampling period can be an integer multiple of the dither current period. When the dither current amplitude is statistically calculated, when the current working dither current is stored for 4a times, the maximum dither current sampling value and the minimum dither current sampling value of the corresponding dither sampling period are found and the results are stored.

[0061] In some embodiments, the actual dither current amplitude is half of the average difference; wherein the average difference is the difference between a first average value and a second average value, the first average value is the average value of multiple maximum dither current sampling values, and the second average value is the average value of multiple minimum dither current sampling values.

[0062] Specifically, the maximum dither current sampling values ​​of each dither sampling period are stored and averaged to obtain a first average value, and the minimum dither current sampling values ​​of each dither sampling period are averaged to obtain a second average value, and then the difference between the two average values ​​is obtained and divided by 2 to obtain the actual dither current amplitude.

[0063] Further, after the dither current amplitude is corrected to obtain the actual dither current amplitude as described above, the dither current correction coefficient can be obtained according to the actual dither current amplitude and the target dither current amplitude. In some embodiments, the dither current correction coefficient is obtained by proportional-integral closed-loop regulation calculation according to the actual dither current amplitude and the target dither current amplitude, or the dither current correction coefficient is obtained by other closed-loop regulation calculation algorithms.

[0064] Specifically, in each dither sampling period, after obtaining multiple dither current sampling values ​​near the peaks and multiple dither current sampling values ​​near the troughs, the dither current sampling values ​​near the peaks and the dither current sampling values ​​near the troughs in one dither sampling period are averaged and calculated to obtain the maximum dither current sampling value and the minimum dither current sampling value of one dither sampling period, thereby obtaining multiple maximum dither current sampling values ​​and multiple minimum dither current sampling values ​​of multiple dither sampling periods, and obtaining the average value of multiple maximum dither current sampling values ​​and the average value of multiple minimum dither current sampling values, and obtaining the average difference value by subtracting the average value of multiple maximum dither current sampling values ​​from the average value of multiple minimum dither current sampling values, and then calculating half of the average difference value to obtain the actual dither current amplitude. The target dither current amplitude is the set dither current amplitude acting on the target device, and the dither current correction coefficient is obtained by performing proportional integral closed-loop regulation according to the target dither current amplitude and the actual dither current amplitude.

[0065] Among them, proportional integral regulation (PI regulation) is a linear controller that controls the controlled object by linearly combining the proportion and integral of the deviation to form the control quantity. Proportional regulation (P regulation) is to adjust the system deviation in proportion to reduce the deviation. It has a fast reaction speed and can respond quickly to system deviations. Integral regulation (I regulation) adjusts the control quantity by integrating the deviation. It has a good response to mild changes and continuous errors of the device and can eliminate steady-state errors.

[0066] For example, assuming that the actual dither current amplitude is calculated after b dither sampling cycles, the average values ​​of b maximum dither current sampling values ​​and b minimum dither current sampling values ​​are calculated respectively to obtain the maximum dither current average value of b dither sampling cycles. That is, the first average value and the minimum dither current average value That is the second average value, and then according to and Calculate the actual dither current amplitude , the calculation formula is as follows: ; is the actual dither current amplitude, is the average value of the maximum dither current sampling value, i.e., the first average value, is the average value of the minimum dither current sampling values, that is, the second average value.

[0067] In the closed-loop regulation of the dither current amplitude, the target dither current amplitude is The actual dither current amplitude C calculated AverAmpPerform PI regulation, and the result calculated by the proportional-integral controller is the dither current correction coefficient required for dither current correction. The dither amplitude closed-loop regulation process is as follows: Figure 3 shown.

[0068] The above is a description of the process of obtaining the actual dither current amplitude. The following is a description of the process of obtaining the calculated dither current value.

[0069] In some embodiments, multiple flutter current calculation values ​​are grouped together; each flutter current calculation value is calculated based on a target flutter current amplitude, a flutter current calculation index value and a flutter current calculation sequence number; wherein the flutter current calculation index value is the number of flutter current calculation values ​​in a group of flutter current calculation values, and 0≤flutter current calculation sequence number≤flutter current calculation index value.

[0070] Specifically, the dither current calculation index is calculated according to the PWM (Pulse Width Modulation) update frequency and the dither frequency of the target device, and then a group of dither current calculation values ​​are calculated using the dither current calculation index value and the target dither current amplitude value. There are multiple dither current calculation numbers, and a dither current calculation value can be calculated according to each dither current calculation number. The dither current calculation index value is the number of dither current calculation values, and the dither current calculation number is obtained by sorting each dither current calculation value to obtain the number of a group of dither current calculation values. The dither current calculation number can determine which specific one of the multiple dither current calculation values ​​is currently obtained, so the dither current calculation number ≤ the dither current calculation index value.

[0071] For example, the process of obtaining the dither current calculation value may include: for example, adjusting the dither duty cycle in the form of an array, first calculating a set of dither current calculation values, the array length, i.e., the dither current calculation index value, is N2. f and the target flutter frequency F Dither The dither current calculation index value is calculated, and then the dither current calculation index value N2 and the dither current calculation sequence number Id are calculated according to the target dither current amplitude. Samp A set of dither current calculation values ​​is calculated, and the calculation formulas of the dither current calculation index value N2 and the dither current calculation value are as follows: ; ; is the current dither current calculation value, is the target dither current amplitude, is the calculation sequence number of the dither current, and takes the value [0, N2], Incremental changes, cyclical cycles.

[0072] In some embodiments, the dither current calculation index value is obtained according to a control frequency of a target device and a target dither frequency.

[0073] Specifically, the control frequency F of the target device f The target dither frequency F is determined based on the operating characteristics and application requirements of the target device. Dither It is determined according to the working characteristics and application requirements of the target device. f and the target flutter frequency F Dither After that, the control frequency F of the target device can be f and the target flutter frequency F Dither The dither current calculation index value N2 is obtained by the above formula.

[0074] The flutter current calculation value and the flutter current correction coefficient are obtained above. Further, in some embodiments, the flutter current calculation value can be converted to obtain the flutter duty cycle, and the flutter duty cycle is corrected by the flutter current correction coefficient to obtain the corrected flutter duty cycle. The flutter current correction signal of the embodiment of the present invention can be the corrected flutter duty cycle.

[0075] Specifically, the dither current correction coefficient is a coefficient used to adjust the magnitude of the dither current. By changing the dither current correction coefficient, the actual dither current amplitude can be accurately controlled to meet the needs of different application scenarios. When obtaining the dither current correction signal, the dither duty cycle can be first obtained by converting the dither current calculation value, and then the dither current correction coefficient is applied to the dither duty cycle to obtain a corrected dither duty cycle, and the corrected dither duty cycle is used as the dither current correction signal.

[0076] For example, the dither duty cycle conversion and correction process is as follows: Figure 4 As shown, the calculated set of dither current values ​​is converted into a corresponding set of dither duty cycles, and the dither duty cycles are corrected using the calculated dither current correction coefficients. The calculation formulas for the dither duty cycle conversion and correction are as follows: ; is the corrected dither duty cycle, is the dither current correction factor, is the target device resistance value, is the target device voltage value.

[0077] In some embodiments, the target control current is obtained according to the target dither current and the target setting current; wherein the target dither current is obtained according to the target dither current amplitude , the dither current sampling index value N1 and the dither current sequence number Obtained, 0≤dither current sequence number≤dither current sampling index value.

[0078] Among them, the target control current can be the current value that the system hopes to achieve, which is used to achieve a specific control goal. The target dither current refers to the current value obtained in order to produce a specific dither effect. The target setting current can be given manually or automatically by the system based on specific circumstances.

[0079] Specifically, when determining the target control current, the target dither current can be first calculated according to the target dither current amplitude, the dither current sampling index value and the dither current sequence number, and then the target dither current is combined with the target setting current to obtain the final target control current. Since multiple current values ​​are sampled within a certain dither sampling period when sampling the dither current, an index value is established for the multiple dither current sampling values, and the dither current sequence number can determine which specific one of the multiple dither current sampling values ​​is currently obtained. The dither current sequence number is the number of a group of dither current sampling values ​​obtained by sorting each dither current sampling value, so the dither current sequence number ≤ the dither current sampling index value.

[0080] For example, according to the target dither current amplitude , the dither current sampling index value N1 and the dither current sequence number Calculate the target dither current , the target dither current is calculated as follows:

[0081] Furthermore, the target dither current With target setting current Superposition is performed to obtain the target control current, the target control current As the input of the target device such as solenoid valve control, the target control current calculation process is as follows Figure 5 shown.

[0082] In some embodiments, the target control signal is obtained by superimposing the modified dither duty cycle and the control duty cycle; wherein the control duty cycle is obtained by fusing the feedforward duty cycle and the feedback duty cycle, and the feedforward duty cycle and the feedback duty cycle are obtained according to the target control current.

[0083] In some embodiments, the feed-forward duty cycle is obtained according to a target control current, a voltage value of a target device, and a resistance value of the target device.

[0084] Specifically, taking the target device as an example of a solenoid valve, the voltage value of the target device and the resistance value of the target device, namely the solenoid valve voltage value and the solenoid valve resistance value, are used to calculate the feedforward duty cycle based on the target control current of the target device, the voltage value of the target device and the resistance value of the target device.

[0085] In some embodiments, the feedback duty cycle is calculated by performing proportional-integral-differential calculation based on the target control current and the operating current of the target device.

[0086] In some embodiments, after obtaining the operating current of the target device, the operating current may be preprocessed, such as averaging or filtering the operating current to remove interference, and the preprocessed operating current may be referred to as feedback current. In this way, the feedback duty cycle may be obtained by proportional-integral-differential calculation based on the target control current and the feedback current.

[0087] Specifically, PID (Proportional Integral Derivative) control is a commonly used control strategy that controls the controlled object by linearly combining the proportion (P), integral (I) and differential (D) of the deviation to form a control quantity. The PID regulation current is obtained by PID regulation based on the target control current and the actual working current of the target device. By continuously obtaining the actual working current and calculating the deviation, performing PID calculation and adjusting the output control signal, the actual working current can gradually approach and stabilize near the target control current value.

[0088] In summary, in the embodiment, the control duty cycle is obtained based on the feedforward duty cycle calculation and the feedback duty cycle calculation. The feedforward duty cycle is calculated using the target control current, the voltage value of the target device and the resistance value of the target device. The target control current and the working current (or the feedback current obtained after preprocessing of the working current) are used to perform current closed-loop control, and the corresponding feedback duty cycle is calculated. The feedforward duty cycle and the feedback duty cycle are integrated to obtain the control duty cycle; the corrected dither duty cycle and the control duty cycle are superimposed to obtain the target control signal.

[0089] For example, the control duty cycle calculation process is as follows Figure 6 As shown, the target device feedforward duty cycle is calculated using the target control current I TargetAdd 、The voltage value of the target device U Power and the resistance value R of the target device Sol Calculate the feedforward duty cycle D forward , the calculation formula is as follows: ; As described above, the current feedforward duty cycle calculation can speed up the response speed of the target device, such as a solenoid valve, to the control.

[0090] Target device feedback duty cycle calculation, using target control current I TargetAdd The feedback duty cycle D is calculated by PID adjustment based on the collected target device's operating current RealCur. Back Alternatively, use the target control current I TargetAddThe feedback current obtained after preprocessing with the working current of the target device is PID-adjusted to obtain the feedback duty ratio D Back .

[0091] Furthermore, the feedforward duty cycle D forward and feedback duty cycle D Back After fusion, we get the PWM control duty cycle, i.e. the target control signal. The calculation formula is as follows: ; The duty cycle superposition process is as follows: Figure 7 As shown, the calculated PWM control duty cycle D PWM With N2 the corrected dither duty cycle D Dither Superposition, to obtain a set of superimposed PWM control duty cycle D PWMCor That is, the target control signal. Furthermore, in order to reduce the load of the MCU (Micro Control Unit), a set of calculated PWM control duty cycles is transmitted to the PWM module using the DMA (Direct Memory Access Module) module within a control cycle of the target current. The DMA module updates a set of duty cycles in each control cycle, thereby achieving precise control of the solenoid valve flutter current.

[0092] Based on the description of the above embodiments, the vibration control process of the embodiment of the present invention is generally described. The functional architecture of the vibration control process of the embodiment of the present invention is as follows: Figure 8 As shown, the functional architecture of the dither control process of the embodiment of the present invention includes a current preprocessing module, a dither current sampling and amplitude calculation module, a dither amplitude closed-loop adjustment module, a dither current correction module, a target control current calculation module, a control duty cycle calculation module, and a duty cycle superposition and update module. Among them, the dither current sampling module and the dither amplitude closed-loop adjustment module are used to correct the dither current amplitude, and the other modules are the target current control process. In order to improve the control accuracy of the dither current, the dither current amplitude correction process and the target control current control process run in different time sequences.

[0093] The current preprocessing module is used to preprocess the collected working current of the target device, such as the solenoid valve, such as performing mean processing or filtering processing to remove noise and reduce interference, thereby improving the accuracy of working current sampling. As mentioned above, the working current of the target device can be preprocessed by the current preprocessing module to obtain the feedback current. Figure 8 In the example shown, the target control current control process and the dither current amplitude correction process use the feedback current as input.

[0094] Among them, the flutter current sampling and amplitude calculation module is mainly used to periodically obtain the flutter current sampling value, that is, to obtain the sampling value of the working current of the target device, and to store several groups of flutter current sampling values ​​including peaks and troughs and near the peaks and troughs on the current waveform. The stored flutter current sampling values ​​near the peaks and the flutter current sampling values ​​near the troughs can be used to calculate the maximum flutter current sampling value and the minimum flutter current sampling value and store them respectively. After several flutter sampling cycles, the corresponding number of maximum flutter current sampling values ​​and minimum flutter current sampling values ​​are found, and the average amplitude of the flutter current is calculated using the above maximum flutter current sampling values ​​and minimum flutter current sampling values, that is, the actual flutter current amplitude is obtained.

[0095] Among them, the dither amplitude closed-loop regulation module is used to perform PI closed-loop regulation according to the target dither current amplitude and the actual dither current amplitude calculated by the dither current sampling and amplitude calculation module, and calculate the corresponding dither current correction coefficient.

[0096] Among them, the dither current correction module is mainly used to calculate the dither current calculation index value according to the update frequency of the PWM signal and the dither frequency of the target device, and then use the dither current calculation index value and the target dither current amplitude to calculate a set of dither current calculation values; use the voltage of the target device such as the solenoid valve and its resistance to convert a set of dither current calculation values ​​into corresponding dither duty cycles, and use the calculated dither current correction coefficient to correct the dither duty cycle to obtain the corrected dither duty cycle, that is, the dither current correction signal.

[0097] Among them, the target control current calculation module can be used to calculate the dither current sampling index value according to the dither sampling frequency and target dither frequency of the target device, and then use the dither current sampling index value and the target dither current amplitude to calculate the target dither current, and superimpose the target dither current and the target set current to obtain the target control current, which is used as the input for the control duty cycle calculation.

[0098] Among them, the control duty cycle calculation module is mainly used for feedforward duty cycle calculation and feedback duty cycle calculation. The feedforward duty cycle is calculated using the target control current, the voltage value of the target device and the resistance value of the target device. The target control current and the operating current or feedback current of the target device are used to perform current closed-loop control, and the corresponding feedback duty cycle is calculated. The feedback duty cycle is superimposed on the feedforward duty cycle to obtain a PWM control duty cycle.

[0099] Among them, the duty cycle superposition and update module is mainly used to superimpose a set of dither duty cycles and a PWM control duty cycle in sequence, output a set of corrected PWM control duty cycles and target control signals, and can use the DMA module to transfer a set of corrected PWM control duty cycles to the PWM module to achieve precise control of the target device such as the dither current of the solenoid valve.

[0100] Specifically, Fig. 9 is a flow chart of a flutter control method according to an embodiment of the present invention. Fig. 9 As shown, it mainly includes: obtaining a modified dither duty cycle and obtaining a control duty cycle, and then, superimposing a set of modified dither duty cycles and control duty cycles to obtain a target control signal, that is, a superimposed PWM control duty cycle.

[0101] Among them, Fig. 9 As shown, the corrected dither duty cycle is obtained by correcting a set of dither duty cycles by using a dither current correction coefficient.

[0102] Specifically, the dither current correction coefficient is obtained by PI adjustment calculation based on the actual dither current amplitude and the target dither current amplitude. The actual dither current amplitude is obtained based on the average value lave-max of the maximum dither current sampling value and the average value lave-min of the minimum dither current sampling value in multiple dither sampling periods. The average value lave-max of the maximum dither current sampling value can be obtained by averaging multiple maximum dither current sampling values ​​such as 11max, 12max....1nmax in multiple dither sampling periods. Similarly, the average value lave-min of the minimum dither current sampling value is obtained by averaging multiple minimum dither current sampling values ​​such as 11max, 12max....1nmax in the dither sampling period. A group of dither current calculation values ​​is obtained based on the target dither current amplitude, the dither current calculation index value and the dither current calculation sequence number, wherein the dither current calculation index value is obtained based on the control frequency of the target device and the target dither frequency.

[0103] Among them, Fig. 9 As shown in FIG. 1 , the control duty cycle is obtained by superimposing the feedback duty cycle and the feedforward duty cycle. The feedback duty cycle is obtained by proportional-integral-differential calculation based on the operating current of the target device and the target control current. The feedforward duty cycle is obtained based on the target control current, the voltage value of the target device, and the resistance value of the target device.

[0104] Among them, the target control current is obtained according to the target dither current and the target set current, and the target dither current is calculated according to the target dither current amplitude, the dither current sampling index value and the dither current sampling sequence number, wherein the dither current sampling index value is obtained according to the dither sampling frequency and the target dither frequency.

[0105] In summary, the dither control method of the embodiment of the present invention calculates the actual dither current amplitude by repeatedly sampling several groups of current values ​​near the peak and trough of the working current of the target device, such as the solenoid valve, and performs closed-loop adjustment of the dither current amplitude using the actual dither current amplitude and the target dither current amplitude to obtain the corresponding dither current correction coefficient, and uses the target dither current amplitude to calculate a group of dither current calculated values, converts the group of dither current calculated values ​​into a group of dither duty cycles, and converts the group of dither duty cycles into a group of corrected dither duty cycles using the dither current correction coefficient, superimposes the corrected dither duty cycles with the PWM control duty cycle of the closed-loop control output of the target control current, and uses the superimposed duty cycle to control the target device.

[0106] In general, the dither current sampling method of the embodiment of the present invention can enhance the anti-disturbance capability of the dither current regulation process, and the independent adjustment of the dither current amplitude can enhance the stability of the system and improve the control accuracy, and reduce the system deviation. In addition, the dither duty cycle corrected and converted by the dither current coefficient is directly superimposed on the PWM control duty cycle, making the dither current regulation more direct and accurate, avoiding the distortion of the corrected dither current, and improving the accuracy of dither control.

[0107] A second aspect of the present invention provides an electronic device, such as Fig.10 As shown, the electronic device 100 includes: at least one processor 101 and a memory 102 .

[0108] Among them, at least one processor 101 is in communication connection with the memory 102, and the memory 102 stores a computer program that can be executed by the at least one processor 101. When the at least one processor 101 executes the computer program, the vibration control method is implemented.

[0109] According to the electronic device of the embodiment of the present invention, the corresponding dither control program can be stored in the memory. When the dither control method is implemented, the processor runs the program in the memory, obtains a dither current correction signal through multiple dither current sampling values, obtains a target control signal according to the dither current correction signal and the target control current, and performs dither control with the target control signal to reduce dither current fluctuations, enhance dither stability, improve dither control accuracy, reduce deviations, make dither current regulation more direct and accurate, avoid distortion of the dither current that has been corrected, and achieve the expected control target.

[0110] A third aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements a vibration control method when executed.

[0111] A fourth aspect of the present invention provides an electronic and electrical system, such as Fig.11As shown, the electronic and electrical system 200 includes: a target device 210 requiring dither control and a controller 230 .

[0112] The controller 230 is connected to the target device 210 and is used to control the target device according to the vibration control method of the above embodiment.

[0113] According to the electronic and electrical system of the embodiment of the present invention, when performing dither control on a target device, the dither current sampling values ​​of the target device within multiple dither sampling periods are obtained to obtain a dither current correction signal, and a target control signal is obtained according to the dither current correction signal and the target control current. The controller performs dither control on the target device according to the target control signal, which can reduce dither current fluctuations, enhance dither stability, improve dither control accuracy, reduce deviations, make dither current regulation more direct and accurate, avoid distortion of the dither current that has been corrected, and achieve the expected control target.

[0114] In some embodiments, the controller may include a current sampling circuit and a control module, and the control module may be used to control the target device.

[0115] Among them, the current sampling circuit is connected to the target device and is used to collect the working current of the target device; the control module has an analog-to-digital conversion unit, which is connected to the current sampling circuit. The analog-to-digital conversion unit is used to convert the analog signal corresponding to the working current into a digital signal, that is, convert it into the data format required for the control module to perform data processing, so as to facilitate the control module to perform data processing.

[0116] In some embodiments, the target device includes, but is not limited to, a solenoid valve, and may also include other devices that require control of the dither current.

[0117] Specifically, the controller 230 collects the working current of the solenoid valve through the current sampling circuit, and the controller 230 executes the dither control method of the above embodiment according to the collected working current of the solenoid valve to control the solenoid valve. The controller 230 controls the solenoid valve according to the above dither control method, which can reduce the fluctuation of the dither current, enhance the dither stability, improve the dither control accuracy, reduce the deviation, and make the dither current regulation more direct and accurate.

[0118] A fifth aspect of the present invention provides a vehicle, such as Fig.12 As shown, the vehicle 300 includes: an electronic device 100, or, as Fig.13 As shown, the vehicle 300 includes an electrical and electronic system 200 .

[0119] According to the vehicle of the embodiment of the present invention, the target device in the vehicle is subjected to flutter control according to the target control signal, so as to reduce the flutter current fluctuation, enhance the flutter stability, improve the flutter control accuracy, reduce the deviation, make the flutter current regulation more direct and accurate, avoid the distortion of the flutter current that has been corrected, and achieve the expected control target.

[0120] In the description of this specification, any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code including one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present invention belong.

[0121] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0122] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0123] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0124] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0125] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

[0126] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, substrates, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example.

[0127] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A flutter control method, characterized in that: include: Controlling a target device based on a target control signal; Wherein, the target control signal is obtained according to the dither current correction signal and the target control current; The dither current correction signal is obtained according to dither current sampling values ​​of the target device in a plurality of dither sampling periods.

2. The flutter control method according to claim 1, characterized in that: The dither current correction signal is obtained according to the dither current correction coefficient and the dither current calculation value; Wherein, the dither current correction coefficient is obtained according to the actual dither current amplitude and the target dither current amplitude; The actual dither current amplitude is obtained according to the dither current sampling values ​​in each of the dither sampling periods.

3. The flutter control method according to claim 2, characterized in that: The actual dither current amplitude is obtained according to the maximum dither current sampling value and the minimum dither current sampling value of each dither sampling period; The maximum dither current sampling value is the maximum value among the multiple dither current sampling values ​​in the dither sampling period, and the minimum dither current sampling value is the minimum value among the multiple dither current sampling values ​​in the dither sampling period.

4. The flutter control method according to claim 3, characterized in that: The dither current sampling value of each dither sampling period is acquired by sampling at a preset sampling point on the working current waveform of the target device; Among them, the preset sampling points include sampling points within a preset time period including a peak point on the working current waveform corresponding to the flutter sampling period, and the preset sampling points also include sampling points within a preset time period including a trough point on the working current waveform corresponding to the flutter sampling period.

5. The flutter control method according to claim 3, characterized in that: The actual dither current amplitude is half of the average difference; The average difference is the difference between the first average value and the second average value; Each of the dither sampling periods has a corresponding maximum dither current sampling value, and the first average value is an average value of multiple maximum dither current sampling values; each of the dither sampling periods has a corresponding minimum dither current sampling value, and the second average value is an average value of multiple minimum dither current sampling values.

6. The flutter control method according to any one of claims 2 to 5, characterized in that: The dither current correction coefficient is obtained by proportional-integral closed-loop regulation and calculation according to the actual dither current amplitude and the target dither current amplitude.

7. The flutter control method according to any one of claims 2 to 5, characterized in that: A plurality of the calculated values ​​of the dither current are grouped together; Each of the flutter current calculation values ​​is obtained by calculation according to the target flutter current amplitude, the flutter current calculation index value and the flutter current calculation sequence number; The dither current calculation index value is the number of the dither current calculation values ​​in a group of the dither current calculation values, and 0≤the dither current calculation sequence number≤the dither current calculation index value.

8. The flutter control method according to claim 7, characterized in that: The dither current calculation index value is obtained according to the control frequency of the target device and the target dither frequency.

9. The flutter control method according to any one of claims 2 to 5, characterized in that: The dither current correction signal is a corrected dither duty cycle; The corrected dither duty cycle is obtained by correcting the dither duty cycle by using the dither current correction coefficient, wherein the dither duty cycle is obtained by converting the dither current calculated value.

10. The flutter control method according to claim 9, characterized in that: The target control current is obtained according to the target dither current and the target setting current; The target dither current is obtained according to the target dither current amplitude, the dither current sampling index value and the dither current sequence number, and 0≤the dither current sequence number≤the dither current sampling index value.

11. The flutter control method according to claim 9, characterized in that: The target control signal is obtained by superimposing the corrected dither duty cycle and the control duty cycle; The control duty cycle is obtained by fusing a feedforward duty cycle and a feedback duty cycle, and the feedforward duty cycle and the feedback duty cycle are obtained according to the target control current.

12. The flutter control method according to claim 11, characterized in that: The feedforward duty ratio is obtained according to the target control current, the voltage value of the target device, and the resistance value of the target device.

13. The flutter control method according to claim 11, characterized in that: The feedback duty cycle is obtained by performing proportional-integral-differential calculation based on the target control current and the operating current of the target device.

14. An electronic device, characterized in that: include: at least one processor; a memory communicatively coupled to the at least one processor; The memory stores a computer program that can be executed by the at least one processor, and when the at least one processor executes the computer program, the flutter control method according to any one of claims 1 to 13 is implemented.

15. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, the vibration control method according to any one of claims 1 to 13 is implemented.

16. An electronic and electrical system, characterized in that: include: Target device that requires dither control; A controller, the controller being connected to the target device and being used to control the target device according to the flutter control method according to any one of claims 1 to 13.

17. The electronic and electrical system according to claim 16, characterized in that: The controller comprises: A current sampling circuit, the current sampling circuit is connected to the target device and is used to collect the working current of the target device; A control module, wherein the control module has an analog-to-digital conversion unit, the analog-to-digital conversion unit is connected to the current sampling circuit, and the analog-to-digital conversion unit is used to convert an analog signal corresponding to the working current into a digital signal.

18. The electronic and electrical system according to claim 16, characterized in that: The target device includes a solenoid valve.

19. A vehicle, characterized in that: The vehicle includes the electronic device according to claim 14, or the vehicle includes the computer-readable storage medium according to claim 15, or the vehicle includes the electronic and electrical system according to any one of claims 16-18.

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