Torsional vibration suppression method, device and system, vehicle and equipment

Abstract

The invention relates to a torsional vibration suppression method, device and system, a vehicle and equipment, and relates to the technical field of vehicles. The method comprises the steps that under the condition that a driving motor is in a torque mode, the overturning angle and the overturning rotating speed of the driving motor are obtained; the overturning angle is the inclination angle of the driving motor; the overturning rotating speed is the rotating speed for driving the shell of the motor to overturn; based on the overturning angle and the overturning rotating speed, whether the driving motor meets a torque compensation condition or not is judged; the torque compensation condition is used for representing a condition for performing torque compensation on the driving motor; and if the driving motor meets the torque compensation condition, performing torque compensation on the driving motor to suppress the torsional vibration of the driving motor. Therefore, torsional vibration of the driving motor can be reduced, and poor smoothness of the vehicle is avoided.

Description

Technical Field

[0001] The present application relates to the technical field of vehicles, in particular to the technical field of vehicle drive motors, and specifically relates to a torsional vibration suppression method, device, system, vehicle, and equipment. Background Art

[0002] With the rapid development of new energy vehicles, users can enjoy more rapid acceleration performance, more diverse driving modes, and a smoother driving experience. The core of new energy vehicles - the drive motor system, with its significant characteristics of rapid torque response and large output torque, generally does not need to worry about the lack of acceleration performance. However, too large a torque or too rapid a change in torque may lead to a reduction in the smoothness of the vehicle transmission system.

[0003] In a related technology, it is proposed to select appropriate filtering coefficients and torque compensation coefficients by looking up a table according to the actual working conditions of the vehicle, and through the anti-torsional vibration resistance-capacitance (RC) filtering coefficients and torque compensation coefficients of each speed segment of the motor under different working conditions, and calculate the compensation torque based on the motor speed difference obtained before and after RC filtering to suppress the torsional vibration of the motor. However, this related technology has hysteresis.

[0004] In another related technology, it is proposed to use the difference between the model speed of the motor and the actual speed of the motor, as well as the anti-torsional vibration compensation coefficient, to obtain the anti-torsional vibration compensation torque, and then correct the target torque of the motor. However, this related technology is more difficult. Summary of the Invention

[0005] The present application provides a torsional vibration suppression method, device, system, vehicle, and equipment to at least solve the technical problem that too large a torque in the related technology results in poor vehicle smoothness. The technical solution of the present application is as follows:

[0006] According to a first aspect provided by the present application, a torsional vibration suppression method is provided, including: when the drive motor is in the torque mode, obtaining the flipping angle and flipping speed of the drive motor; the flipping angle is the angle at which the drive motor is tilted; the flipping speed is the speed at which the housing of the drive motor flips; based on the flipping angle and flipping speed, determining whether the drive motor meets the torque compensation condition; the torque compensation condition is used to represent the condition for performing torque compensation on the drive motor; if the drive motor meets the torque compensation condition, torque compensation is performed on the drive motor to suppress the torsional vibration of the drive motor.

[0007] According to the above technical means, the present application can timely detect the torsional vibration situation during the operation of the motor by real-time monitoring of the flipping angle and flipping speed of the motor, and when the motor meets the torque compensation condition, can timely perform torque compensation to effectively suppress the torsional vibration and make the operation of the motor more stable.

[0008] In one possible way, the torque compensation conditions include: the flipping angle is within a preset range, and the flipping speed is greater than the speed threshold; when the rotor of the driving motor has a flipping angle within the preset range, there are two flipping directions.

[0009] According to the above technical means, the present application can accurately control the triggering conditions of torque compensation by setting the preset range of the flipping angle and the speed threshold of the flipping speed, avoid unnecessary torque compensation, reduce energy waste and motor wear, and at the same time ensure timely response when compensation is really needed.

[0010] In one possible way, obtaining the flipping speed includes: obtaining the required torque of the vehicle and the motor torque of the driving motor; determining the flipping speed based on the required torque and the motor torque.

[0011] According to the above technical means, the present application can accurately understand the load condition of the motor and the power demand of the vehicle by monitoring the required torque of the vehicle and the actual torque of the motor in real time, so as to accurately calculate the flipping speed.

[0012] In one possible way, determining the flipping speed based on the required torque and the motor torque includes: determining the torque change rate of the required torque and the target speed compensation coefficient corresponding to the motor torque; the motor torque and the speed compensation coefficient satisfy a first mapping relationship; the first mapping relationship includes speed compensation coefficients corresponding one by one to multiple motor torques; determining the flipping speed based on the torque change rate and the target speed compensation coefficient.

[0013] According to the above technical means, the present application can understand the change trend of the vehicle power demand in real time by monitoring the torque change rate of the required torque, so as to accurately calculate the flipping speed of the motor based on the actual motor torque.

[0014] In one possible way, performing speed compensation on the driving motor includes: obtaining the rotor speed of the driving motor; determining the target torque compensation coefficient matching the rotor speed; the rotor speed and the target torque compensation coefficient satisfy a first mapping relationship; the first mapping relationship includes multiple torque compensation coefficients corresponding one by one to multiple rotor speeds; performing torque compensation on the driving motor based on the rotor speed and the target torque compensation coefficient.

[0015] According to the above technical means, the present application can accurately control the output torque of the motor by monitoring the rotor speed of the motor in real time and determining the corresponding torque compensation coefficient according to the speed, so as to reduce the fluctuations and unstable factors of the motor and make the operation of the motor more stable and reliable.

[0016] In one possible way, torque compensation is performed on the drive motor based on the rotor speed and the target torque compensation coefficient, including: determining the amount of speed fluctuation of the rotor speed based on the rotor speed; and performing torque compensation on the drive motor based on the amount of speed fluctuation and the target torque compensation coefficient.

[0017] According to the above technical means, the present application can accurately understand the operating state and fluctuation of the motor by monitoring the rotor speed and calculating its fluctuation amount, and perform compensation in combination with the target torque compensation coefficient to ensure that the compensation amount matches the actual demand, thereby improving the accuracy of torque compensation.

[0018] In one possible way, torque compensation is performed on the drive motor based on the amount of speed fluctuation and the target torque compensation coefficient, including: determining the torque compensation value based on the amount of speed fluctuation and the target torque compensation coefficient; determining the first torque based on the torque compensation value and the required torque of the vehicle; and controlling the drive motor to output the first torque to achieve torque compensation for the drive motor.

[0019] According to the above technical means, the present application can quickly calculate the torque compensation value by real-time monitoring the amount of speed fluctuation, and can quickly adjust the output torque of the motor to adapt to the change of vehicle demand.

[0020] According to the second aspect provided by the present application, a torsional vibration suppression device is provided, including: an acquisition unit, a judgment unit, and a suppression unit; the acquisition unit is used to acquire the flipping angle and flipping speed of the drive motor when the drive motor is in the torque mode; the flipping angle is the angle at which the drive motor tilts; the flipping speed is the speed at which the housing of the drive motor flips; the judgment unit is used to judge whether the drive motor meets the torque compensation condition based on the flipping angle and the flipping speed; the torque compensation condition is used to characterize the condition for performing torque compensation on the drive motor; the suppression unit is used to perform torque compensation on the drive motor if the drive motor meets the torque compensation condition to suppress the torsional vibration of the drive motor.

[0021] In one possible way, the acquisition unit is specifically used to: acquire the required torque of the vehicle and the motor torque of the drive motor; and determine the flipping speed based on the required torque and the motor torque.

[0022] In one possible way, the acquisition unit is specifically used to: determine the torque change rate of the required torque and the target speed compensation coefficient corresponding to the motor torque; and determine the flipping speed based on the torque change rate and the target speed compensation coefficient.

[0023] In a possible way, the suppression unit is specifically configured to: obtain the rotor speed of the drive motor; determine a target torque compensation coefficient matching the rotor speed; there is a first mapping relationship between the rotor speed and the target torque compensation coefficient; the first mapping relationship includes multiple torque compensation coefficients corresponding one by one to multiple rotor speeds; based on the rotor speed and the target torque compensation coefficient, perform torque compensation on the drive motor.

[0024] In a possible way, the suppression unit is specifically configured to: based on the rotor speed, determine the amount of speed fluctuation of the rotor speed; based on the amount of speed fluctuation and the target torque compensation coefficient, perform torque compensation on the drive motor.

[0025] In a possible way, the suppression unit is specifically configured to: based on the amount of speed fluctuation and the target torque compensation coefficient, determine a torque compensation value; based on the torque compensation value and the required torque of the vehicle, determine a first torque; control the drive motor to output the first torque to achieve torque compensation for the drive motor.

[0026] According to the third aspect provided by the present application, there is provided a torsional vibration suppression system, including: a torsional vibration suppression device and a drive motor; the torsional vibration suppression device is configured to, when the drive motor is in a torque mode, obtain the flipping angle and flipping speed of the drive motor; the flipping angle is the angle at which the drive motor tilts; the flipping speed is the speed at which the housing of the drive motor flips; the torsional vibration suppression device is further configured to, based on the flipping angle and the flipping speed, determine whether the drive motor meets the torque compensation condition; the torque compensation condition is used to characterize the condition for performing torque compensation on the drive motor; the torsional vibration suppression device is further configured to, if the drive motor meets the torque compensation condition, perform torque compensation on the drive motor to suppress the torsional vibration of the drive motor.

[0027] According to the fourth aspect provided by the present application, there is provided a vehicle including a torsional vibration suppression system.

[0028] According to the fifth aspect provided by the present application, there is provided an electronic device, including: a processor; a memory for storing processor-executable instructions; wherein, the processor is configured to execute the instructions to implement the method according to the first aspect and any one of its possible implementation manners described above.

[0029] According to the sixth aspect provided by the present application, there is provided a computer-readable storage medium, when the instructions in the computer-readable storage medium are executed by the processor of the electronic device, enabling the electronic device to execute the method according to the first aspect and any one of its possible implementation manners described above.

[0030] According to the seventh aspect provided by the present application, there is provided a computer program product, the computer program product includes computer instructions, when the computer instructions run on the electronic device, enabling the electronic device to execute the method according to the first aspect and any one of its possible implementation manners described above.

[0031] It should be noted that for the technical effects brought about by any of the implementation manners in the second aspect to the seventh aspect, reference may be made to the technical effects brought about by the corresponding implementation manner in the first aspect, which will not be elaborated herein.

[0032] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and do not limit this application. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The drawings herein are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with this application, and are used together with the specification to explain the principles of this application, and do not constitute an improper limitation to this application.

[0034] Figure 1 is a schematic diagram of the hardware structure of a vehicle shown according to an exemplary embodiment;

[0035] Figure 2 is a schematic flowchart of a torsional vibration suppression method shown according to an exemplary embodiment;

[0036] Figure 3 is a schematic diagram of a torsional vibration suppression process shown according to an exemplary embodiment;

[0037] Figure 4 is a schematic diagram of another torsional vibration suppression process shown according to an exemplary embodiment;

[0038] Figure 5 is a schematic diagram of the rotational speed deviation of the drive motor flipping shown according to an exemplary embodiment;

[0039] Figure 6 is a torque-rotation angle relationship diagram shown according to an exemplary embodiment;

[0040] Figure 7 is a block diagram of a torsional vibration suppression device shown according to an exemplary embodiment;

[0041] Figure 8 is a block diagram of an electronic device shown according to an exemplary embodiment. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0042] In order to enable those of ordinary skill in the art to better understand the technical solutions of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the drawings.

[0043] It should be noted that the terms "first", "second", etc. in the description, claims and the above-mentioned drawings of this application are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of this application described here can be implemented in an order other than those illustrated or described here. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. On the contrary, they are only examples of devices and methods consistent with some aspects of this application as detailed in the appended claims.

[0044] First, some terms and related technologies involved in this application are explained to facilitate the understanding of those skilled in the art.

[0045] Torsional vibration: The full name is torsional vibration, which is a manifestation of structural dynamics behavior. Torsional vibration refers to the reciprocating circular motion of a rotating component along the rotation direction, also known as angular vibration.

[0046] The rapid development of new energy vehicles has not only greatly promoted the technological innovation of the automotive industry but also allowed users to enjoy unprecedented driving pleasures. These vehicles are gradually changing people's travel modes with their rapid acceleration performance, diverse driving modes, and extremely smooth driving experiences. Behind all this is the driving motor, the core component of new energy vehicles.

[0047] As the power source of new energy vehicles, the drive motor system endows the vehicle with powerful acceleration capabilities with its remarkable characteristics of rapid torque response and large output torque. Compared with traditional fuel vehicles, new energy vehicles can instantaneously burst out huge power when starting and accelerating, giving the driver an unprecedented experience. This rapid acceleration performance undoubtedly greatly enhances the passion and pleasure of driving.

[0048] However, excessive torque and too rapid torque changes also pose challenges to the smoothness of the transmission system of new energy vehicles to a certain extent. When the drive motor outputs excessive torque, the transmission system needs to bear a huge load, which may lead to increased wear of components and even cause failures. At the same time, too rapid torque changes will also make the vehicle's acceleration process less smooth, affecting driving comfort and riding experience.

[0049] In a related technology, it is proposed to select appropriate filtering coefficients and torque compensation coefficients by looking up tables according to the actual working conditions of the vehicle, through the anti-torsional vibration RC filtering coefficients and torque compensation coefficients of each speed segment of the motor under different working conditions, and calculate the compensation torque based on the motor speed difference obtained before and after RC filtering to suppress motor torsional vibration. However, this related technology has hysteresis.

[0050] In another related technology, it is proposed to obtain the anti-torsional vibration compensation torque by using the difference between the rotational speed of the motor model and the actual rotational speed of the motor, as well as the anti-torsional vibration compensation coefficient, and then correct the target torque of the motor. However, this related technology is quite difficult.

[0051] As described in the background art, to solve the technical problem of poor vehicle ride comfort caused by excessive torque in the related technology, the present application provides a torsional vibration suppression method, which can obtain the flipping angle and flipping speed of the drive motor when the drive motor is in the torque mode, and based on the flipping angle and flipping speed, determine whether the drive motor meets the torque compensation condition. If the drive motor meets the torque compensation condition, further torque compensation is performed on the drive motor to suppress the torsional vibration of the drive motor.

[0052] Based on this, the present application can monitor the flipping angle and flipping speed of the motor in real time, timely detect the torsional vibration situation during the operation of the motor, and when the motor meets the torque compensation condition, can timely perform torque compensation to effectively suppress the torsional vibration and make the operation of the motor more stable.

[0053] Next, the technical solutions in the embodiments of the present application will be described with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments.

[0054] The torsional vibration suppression method provided by the embodiments of the present application can be applied to vehicles. Vehicles can also be referred to as transportation means (vehicle), mobile carriers (mobile carrier), electric vehicles (electric vehicle, EV), hybrid electric vehicles (hybrid electric vehicle, HEV), plug-in hybrid electric vehicles (plug-in hybrid electric vehicle, PHEV), fuel cell vehicles (fuel cell vehicle, FCV), autonomous vehicles (autonomous vehicle), intelligent and connected vehicles (intelligent and connected vehicle, ICV), driverless vehicles (driverless vehicle), etc.

[0055] In the embodiments of the present application, the vehicle can be a sedan, a sport utility vehicle (SUV), a truck, an electric vehicle, a motorcycle, a tricycle, a special vehicle (such as an ambulance, a fire truck, a police car, etc.), a driverless taxi, an intelligent and connected bus, an autonomous logistics vehicle, an electric truck, etc. In addition, this method is also applicable to various special vehicles, such as agricultural vehicles, mining vehicles, forestry vehicles, airport vehicles, port vehicles, etc. The present application does not make specific limitations on this.

[0056] Figure 1 It is a schematic diagram of the hardware structure of a vehicle shown according to an exemplary embodiment.

[0057] In a possible implementation, the vehicle 100 may include a torsional vibration suppression device 101, a data acquisition device 102, and a drive motor 103.

[0058] Optionally, Figure 1 A communication connection may be established between the torsional vibration suppression device 101 and the data acquisition device 102 in []. A connection may be established between the data acquisition device 102 and the drive motor 103. A connection may be established between the torsional vibration suppression device 101 and the drive motor 103.

[0059] In practical applications, the torsional vibration suppression device 101 may be communicatively connected to one or more data acquisition devices 102.

[0060] For ease of understanding, this application will be described by taking the communication connection between one torsional vibration suppression device 101 and one data acquisition device 102 as an example.

[0061] Optionally, Figure 1 The torsional vibration suppression device 101 and the data acquisition device 102 in [] may be functional modules integrated in the same device, or may be devices independently provided. This application does not limit this.

[0062] It is easy to understand that when the torsional vibration suppression device 101 and the data acquisition device 102 are functional modules integrated in the same device, the communication method between the torsional vibration suppression device 101 and the data acquisition device 102 is the communication between internal modules of the device. In this case, the communication process between the two is the same as the "communication process when the torsional vibration suppression device 101 and the data acquisition device 102 are independently provided".

[0063] For ease of understanding, this application will mainly be described by taking the case where the torsional vibration suppression device 101 and the data acquisition device 102 are independently provided as an example.

[0064] Figure 1 The data acquisition device 102 in [] may, when the drive motor is in the torque mode, acquire the flip angle and flip speed of the drive motor, and send the flip angle and flip speed to the torsional vibration suppression device 101. The torsional vibration suppression device 101 may, based on the flip angle and flip speed, determine whether the drive motor meets the torque compensation condition. If the drive motor meets the torque compensation condition, the torsional vibration suppression device 101 may perform torque compensation on the drive motor to suppress the torsional vibration of the drive motor.

[0065] Optionally, Figure 1The torsional vibration suppression device 101 in it can be a terminal, a server, or other types of electronic devices. Figure 1 What is shown in it is only an example of the device form of the torsional vibration suppression device 101, and it does not constitute a limitation thereto.

[0066] When the torsional vibration suppression device 101 is a terminal, the terminal can be a device that provides voice and / or data connectivity to the user, a handheld device with a wireless connection function, or other processing devices connected to a wireless modem. The terminal can communicate with one or more core networks via a radio access network (RAN). The terminal can be a mobile terminal, such as a computer with a mobile terminal, or a mobile device built into the vehicle 100, which exchanges language and / or data with the wireless access network. For example, mobile phones, tablets, laptops, netbooks, personal digital assistants (PDAs). This application does not make any restrictions on this.

[0067] When the torsional vibration suppression device 101 is a server, the server can be a single server, or alternatively, it can be a server cluster composed of multiple servers. In some embodiments, the server cluster can also be a distributed cluster. This application does not make any restrictions on this.

[0068] It should be noted that the structure illustrated in the embodiments of this application does not constitute a limitation to the vehicle 100. It can include more or fewer components than those shown, or combine certain components, or split certain components, or have different component arrangements. The illustrated components can be implemented in hardware, software, or a combination of software and hardware.

[0069] For the sake of easy understanding, the torsional vibration suppression method provided by this application will be specifically introduced below in conjunction with the accompanying drawings.

[0070] Figure 2 is a flowchart showing a torsional vibration suppression method according to an exemplary embodiment, as Figure 2 shown, the torsional vibration suppression method includes the following steps: S201 - S203.

[0071] S201. When the drive motor is in the torque mode, obtain the flipping angle and flipping speed of the drive motor.

[0072] Among them, the flipping angle can be the angle at which the drive motor tilts. The flipping speed can be the speed at which the housing of the drive motor flips. The flipping angle can be used to characterize the angle at which the drive motor tilts relative to the ground coordinate system. The flipping speed can be used to characterize the angle at which the housing of the drive motor flips.

[0073] In a possible implementation, the torsional vibration suppression device can determine the current operating mode of the drive motor. When the torsional vibration suppression device determines that the drive motor is in the torque mode, it can obtain the flipping angle and flipping speed of the drive motor.

[0074] Alternatively, when the torsional vibration suppression device determines that the drive motor is not in the torque mode, it can continuously determine the current operating mode of the drive motor.

[0075] In a possible implementation, the torsional vibration suppression device can obtain the required torque of the vehicle and the motor torque of the drive motor. The torsional vibration suppression device can determine the flipping speed based on the required torque and the motor torque. For the specific implementation of how the torsional vibration suppression device obtains the flipping speed, reference can be made to S301 - S302 below. Details are not elaborated here.

[0076] In yet another possible implementation, the torsional vibration suppression device can be configured with a non - linear stiffness curve. The torsional vibration suppression device can determine the motor torque of the drive motor at the current moment. The torsional vibration suppression device can determine the flipping angle based on the non - linear stiffness curve and the motor torque of the drive motor at the current moment.

[0077] Among them, the non - linear stiffness curve can include flipping angles corresponding one - to - one with multiple motor torques.

[0078] Optionally, the non - linear stiffness curve can be obtained by simulating the mechanical characteristics of the mount, or can be determined based on actual measurement and matching at different motor torques. There is no specific limitation in this application.

[0079] Optionally, the horizontal axis of the non - linear stiffness curve can be the motor torque, and the vertical axis can be the flipping angle. Or, the horizontal axis of the non - linear stiffness curve can be the flipping angle, and the vertical axis can be the motor torque. There is no specific limitation in this application.

[0080] S202. Based on the flipping angle and the flipping speed, determine whether the drive motor meets the torque compensation condition.

[0081] Among them, the torque compensation condition is used to represent the condition for torque compensation of the drive motor.

[0082] In a possible implementation, the torque compensation condition can include that the flipping angle is within a preset interval and the flipping speed is greater than the speed threshold. When the rotor of the drive motor has a flipping angle within the preset interval, there are two flipping directions.

[0083] Optionally, the preset interval can be set according to actual needs. For example, the preset interval can be an interval from - 5 degrees to 5 degrees, or an interval from - 10 degrees to 10 degrees. There is no specific limitation in this application.

[0084] Optionally, the rotation speed threshold can be set according to actual requirements. For example, the rotation speed threshold can be 5000 revolutions per minute (RPM), or it can be 6000 RPM. This application does not make specific restrictions on this.

[0085] It should be noted that when the flipping angle is close to 0°, the center of gravity of the drive motor may be closer to the rotation axis, resulting in larger motion changes caused by even minor disturbances, which may affect the stability of the drive motor. Moreover, the housing of the drive motor will increase the inertia of the drive motor during high-speed rotation, making the drive motor more sensitive to external disturbances. Therefore, when the flipping speed exceeds a certain threshold, the stability of the drive motor may be seriously threatened, and at this time, torque compensation needs to be performed on the drive motor.

[0086] S203. If the drive motor meets the torque compensation condition, torque compensation is performed on the drive motor to suppress the torsional vibration of the drive motor.

[0087] In a possible implementation manner, in order to perform torque compensation on the drive motor to suppress the torsional vibration of the drive motor, the torsional vibration suppression device can obtain the rotor speed of the drive motor and determine a target torque compensation coefficient that matches the rotor speed, so as to further perform torque compensation on the drive motor based on the rotor speed and the target torque compensation coefficient.

[0088] Among them, the rotor speed can be used to represent the difference between the current motor speed and the flipping speed of the drive motor. The rotor speed and the target torque compensation coefficient satisfy a second mapping relationship. The second mapping relationship can include multiple torque compensation coefficients that correspond one by one to multiple rotor speeds.

[0089] Specifically, the torsional vibration suppression device can obtain the current motor speed and the flipping speed of the drive motor. The torsional vibration suppression device can determine the difference between the current motor speed and the flipping speed of the drive motor as the rotor speed. The torsional vibration suppression device can determine the target torque compensation coefficient that matches the speed from the configured second mapping relationship.

[0090] Furthermore, the torsional vibration suppression device can determine the speed fluctuation amount of the rotor speed based on the rotor speed. The torsional vibration suppression device can perform torque compensation on the drive motor based on the speed fluctuation amount and the target torque compensation coefficient. The specific implementation manner of the torsional vibration suppression device performing torque compensation on the drive motor based on the rotor speed and the target torque compensation coefficient can refer to S401 - S402 below. Details are not described here.

[0091] Based on this, the present application can monitor the flipping angle and flipping speed of the motor in real time, timely detect the torsional vibration situation during the operation of the motor, and when the motor meets the torque compensation condition, can timely perform torque compensation, effectively suppressing the torsional vibration and making the motor operation more stable.

[0092] In some embodiments, in order to obtain the flipping speed, the torsional vibration suppression method provided by the present application further includes the following steps: S301 - S302.

[0093] S301. Obtain the required torque of the vehicle and the motor torque of the drive motor.

[0094] Among them, the required torque of the vehicle is determined by the opening degree of the accelerator pedal, the opening degree of the brake pedal and the energy management strategy of the vehicle. The energy management strategy may include torques corresponding to the opening degree of the accelerator pedal and the opening degree of the brake pedal. The motor torque may be related to the motor speed and the motor power.

[0095] In a possible implementation manner, the torsional vibration suppression device can obtain the opening degree of the accelerator pedal and the opening degree of the brake pedal of the vehicle. The torsional vibration suppression device can determine the required torque matching the opening degree of the accelerator pedal and the opening degree of the brake pedal from the energy management strategy.

[0096] Optionally, the required torque may also be related to the vehicle speed and the battery state of the power battery. The present application does not make specific limitations on this.

[0097] In a possible implementation manner, the torsional vibration suppression device can obtain and determine the motor speed and the motor power of the motor. The torsional vibration suppression device can determine the motor torque of the drive motor based on the motor speed and the motor power.

[0098] S302. Determine the flipping speed based on the required torque and the motor torque.

[0099] In a possible implementation manner, the torsional vibration suppression device can determine the torque change rate of the required torque and the target speed compensation coefficient corresponding to the motor torque.

[0100] Among them, the torque change rate can be used to characterize the change rate of the required torque based on time.

[0101] In a possible implementation manner, the torsional vibration suppression device is configured with a first mapping relationship. The torsional vibration suppression device can determine the target speed compensation coefficient corresponding to the motor torque from the first mapping relationship.

[0102] Among them, the first mapping relationship may include a plurality of speed compensation coefficients corresponding one - to - one to a plurality of motor torques. The first mapping relationship is established based on the non - linear stiffness curve of the mount, and the proportional relationship between the flipping angle and the motor torque. The first mapping relationship can be a speed coefficient table, and the speed coefficient can be determined from the first mapping relationship based on the motor torque.

[0103] In a possible implementation manner, the torsional vibration suppression device may determine the flipping speed based on the product between the torque change rate and the rotational speed coefficient.

[0104] Based on this, the present application can accurately understand the load condition of the motor and the power demand of the vehicle by real-time monitoring of the required torque of the vehicle and the actual torque of the motor, so as to accurately calculate the flipping speed.

[0105] In some embodiments, in order to perform torque compensation on the drive motor based on the rotor speed and the target torque compensation coefficient, the torsional vibration suppression method provided by the present application further includes the following steps: S401 - S402.

[0106] S401. Determine the rotational speed fluctuation amount of the rotor speed based on the rotor speed.

[0107] Wherein, the rotational speed fluctuation amount can be used to characterize the difference between the rotor speed and the actual speed. The actual speed can be used to characterize the speed signal processed by the filter, that is, the rotor speed after removing noise.

[0108] In a possible implementation manner, the torsional vibration suppression device may perform low-pass filtering on the rotor speed to obtain the actual speed.

[0109] The torsional vibration suppression device may determine the rotational speed fluctuation amount based on the difference between the rotor speed and the actual speed.

[0110] S402. Perform torque compensation on the drive motor based on the rotational speed fluctuation amount and the target torque compensation coefficient.

[0111] In a possible implementation manner, the torsional vibration suppression device may determine the compensation torque value based on the product of the rotational speed fluctuation amount and the target torque compensation coefficient. The torsional vibration suppression device may determine the control torque command by summing the required torque and the compensation torque value. The torsional vibration suppression device may control the motor to execute the control torque command to perform torque compensation on the drive motor and suppress the jitter of the motor speed.

[0112] Based on this, the present application can accurately understand the operating state and fluctuation condition of the motor by monitoring the rotor speed and calculating its fluctuation amount, and perform compensation in combination with the target torque compensation coefficient to ensure that the compensation amount matches the actual demand, thereby improving the accuracy of torque compensation.

[0113] In some embodiments, as Figure 3 shown, Figure 3 is a schematic diagram of a torsional vibration suppression process shown according to an exemplary embodiment.

[0114] In a possible implementation manner, the torsional vibration suppression device can obtain the demanded torque when currently in the torque control mode, otherwise continuously determine whether it is currently in the torsional vibration control mode. The torsional vibration suppression device can determine the angle of inclination of the drive motor relative to the ground coordinate system, i.e., the flipping angle, according to the magnitude of the demanded torque. The torsional vibration suppression device can calculate the change rate of the demanded torque. The torsional vibration suppression device can calculate the change rate of the angle caused by the flipping of the drive motor housing. The torsional vibration suppression device can calculate the rotational speed of the drive motor housing flipping according to the change rate of the demanded torque and the change rate of the angle. The torsional vibration suppression device determines whether the flipping amount meets the torque compensation condition based on the flipping angle and the rotational speed.

[0115] The torsional vibration suppression device can enable the torque compensation mode when the flipping amount meets the torque compensation condition, otherwise delay for a period of time and exit the torque compensation mode.

[0116] Among them, the flipping amount includes: the flipping angle is within a preset interval and the flipping rotational speed is greater than the rotational speed threshold.

[0117] In some embodiments, as Figure 4 shown, Figure 4 is a schematic diagram of another torsional vibration suppression process shown according to an exemplary embodiment.

[0118] In a possible implementation manner, the torsional vibration suppression device can obtain the motor rotational speed, the angle of inclination of the drive motor relative to the ground coordinate system, and calculate the rotational speed of the drive motor housing flipping. The torsional vibration suppression device can re-obtain the rotational speed of the motor rotor relative to the ground coordinate system. The torsional vibration suppression device can determine the rotational speed fluctuation amount through a filtering function and query a rotational speed-torque coefficient table to determine the target torque compensation coefficient. The torsional vibration suppression device can determine the torque compensation value based on the rotational speed fluctuation amount and the target torque compensation coefficient. The torsional vibration suppression device can determine that the control torque command is the sum of the demanded torque and the torque compensation value.

[0119] In some embodiments, as Figure 5 shown, Figure 5 is a schematic diagram of the deviation of the flipping rotational speed of a drive motor shown according to an exemplary embodiment.

[0120] In a possible implementation manner, for the phenomenon of the flipping of the drive motor housing described in the embodiments of the present application, its corresponding rotational speed performance is as Figure 5As shown by the solid line 1 in []. When the vehicle is in the forward gear and starts to accelerate from a stationary state, three-phase current is applied to the stator side of the drive motor. The stator magnetic field generated by this current will attract and combine with the rotor permanent magnet magnetic field, thereby generating a force that drives the motor rotor to rotate forward, that is, the torque of the drive wheel towards the front of the vehicle. According to Newton's third law, the action force and the reaction force are mutual. Therefore, the force applied to the motor rotor will also act in the opposite direction on the motor stator at the same time, causing the motor stator to be subjected to the suction force from the motor rotor and attempting to rotate in the reverse direction towards the rear of the vehicle.

[0121] To visually observe this process, a camera can be fixedly installed on the vehicle body for shooting. Thus, it can be clearly seen that during the acceleration process, the drive motor housing is forced to tilt upwards, and at the same time, due to the limiting effect of the suspension system, its flipping angle is restricted. At the same time, the rotating shaft drives the wheels to move forward under the action of force.

[0122] During this process, the stator and rotor of the motor show a rotational tendency in opposite directions relative to the ground coordinate system, which results in a deviation between the motor speed collected by the resolver (RVDT) installed on the stator and rotor of the motor and the actual speed of the motor rotor relative to the ground-fixed coordinate system. The magnitude of this speed deviation depends on the magnitude of the torque, the inertia of the drive motor housing, and the elastic characteristics of the suspension system. To characterize this process, we use a torque-angle table for description.

[0123] After compensating for the speed deviation, the speed of the motor rotor relative to the ground-fixed coordinate system (as shown by the dashed line 2 in []) is basically linearly related to the wheel speed, which conforms to the principle of Newton's second law of motion. Figure 5 As shown by the dashed line 2 in [].

[0124] In some embodiments, as shown in []. Figure 6 Figure 6 shows a torque-angle relationship diagram according to an exemplary embodiment, that is, the non-linear stiffness curve of the mount.

[0125] In one possible implementation, the torque-angle relationship diagram includes a limiting section, a filtering section, and a linear section.

[0126] Among them, the limiting section is located at the end of the torque-angle relationship curve and is used to limit the excessive displacement of the powertrain under extreme conditions to prevent interference with surrounding parts. The transition section is located between the linear section and the limiting section and is used to achieve high-frequency vibration isolation and control the displacement of the powertrain under conditions such as full-throttle acceleration. The linear section is located at the starting part of the torque-angle relationship curve and is used to achieve low-frequency vibration isolation under conditions such as idling and low-speed driving.

[0127] Figure 7 Figure [] shows a block diagram of a torsional vibration suppression device according to an exemplary embodiment. Refer toFigure 7 , the test device includes: an acquisition unit 501, a judgment unit 502, and an inhibition unit 503.

[0128] In a possible implementation manner, the acquisition unit 501 is configured to acquire the flipping angle and flipping speed of the drive motor when the drive motor is in the torque mode.

[0129] In a possible implementation manner, the judgment unit 502 is configured to judge whether the drive motor meets the torque compensation condition based on the flipping angle and flipping speed. The torque compensation condition is used to characterize the condition for performing torque compensation on the drive motor.

[0130] In a possible implementation manner, the inhibition unit 503 is configured to perform torque compensation on the drive motor if the drive motor meets the torque compensation condition, so as to inhibit the torsional vibration of the drive motor.

[0131] In a possible manner, the acquisition unit 501 is specifically configured to: acquire the required torque of the vehicle and the motor torque of the drive motor. Determine the flipping speed based on the required torque and the motor torque.

[0132] In a possible manner, the acquisition unit 501 is specifically configured to: determine the torque change rate of the required torque and the target speed compensation coefficient corresponding to the motor torque. Determine the flipping speed based on the torque change rate and the target speed compensation coefficient.

[0133] In a possible implementation manner, the inhibition unit 503 is specifically configured to: acquire the rotor speed of the drive motor. Determine the target torque compensation coefficient matching the rotor speed. The rotor speed and the target torque compensation coefficient satisfy a first mapping relationship. The first mapping relationship includes a plurality of torque compensation coefficients corresponding one-to-one to a plurality of rotor speeds. Perform torque compensation on the drive motor based on the rotor speed and the target torque compensation coefficient.

[0134] In a possible manner, the inhibition unit 503 is specifically configured to: determine the speed fluctuation amount of the rotor speed based on the rotor speed. Perform torque compensation on the drive motor based on the speed fluctuation amount and the target torque compensation coefficient.

[0135] In a possible manner, the inhibition unit 503 is specifically configured to: determine the torque compensation value based on the speed fluctuation amount and the target torque compensation coefficient. Determine the first torque based on the torque compensation value and the required torque of the vehicle. Control the drive motor to output the first torque to achieve torque compensation for the drive motor.

[0136] According to a third aspect provided by the present application, a torsional vibration suppression system is provided, including: a torsional vibration suppression device and a driving motor. The torsional vibration suppression device is configured to obtain the flipping angle and flipping speed of the driving motor when the driving motor is in the torque mode. The flipping angle is the angle at which the driving motor tilts. The flipping speed is the speed at which the housing of the driving motor flips. The torsional vibration suppression device is further configured to determine whether the driving motor meets the torque compensation condition based on the flipping angle and the flipping speed. The torque compensation condition is used to characterize the condition for performing torque compensation on the driving motor. The torsional vibration suppression device is further configured to, if the driving motor meets the torque compensation condition, perform torque compensation on the driving motor to suppress the torsional vibration of the driving motor.

[0137] Regarding the device in the above embodiments, the specific manners in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated here.

[0138] Figure 8 is a block diagram of an electronic device shown according to an exemplary embodiment. As Figure 8 shown, the electronic device includes, but is not limited to: a processor 601 and a memory 602.

[0139] Among them, the above-mentioned memory 602 is used to store the executable instructions of the above-mentioned processor 601. It can be understood that the above-mentioned processor 601 is configured to execute instructions to implement the torsional vibration suppression method in the above embodiments.

[0140] It should be noted that those skilled in the art can understand that Figure 8 the structure of the electronic device shown in Figure 8 does not constitute a limitation on the electronic device. The electronic device may include more or fewer components than

[0141] shown, or combine certain components, or have different component arrangements.

[0142] The memory 602 can be used to store software programs and various data. The memory 602 mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system, application programs required by at least one functional module (such as a determination unit, a processing unit, etc.). In addition, the memory 602 can include high-speed random access memory, and can also include non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0143] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as the memory 602 including instructions. The above instructions can be executed by the processor 601 of the electronic device to implement the method in the above embodiment.

[0144] In actual implementation, Figure 7 the functions of the acquisition unit 501, the judgment unit 502, and the inhibition unit 503 in Figure 8 can all be implemented by the processor 601 in calling the computer program stored in the memory 602. The specific execution process can refer to the description of the method part in the above embodiment, which will not be elaborated here.

[0145] Optionally, the computer-readable storage medium can be a non-transitory computer-readable storage medium. For example, the non-transitory computer-readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0146] In an exemplary embodiment, the embodiment of the present application also provides a computer program product including one or more instructions, and the one or more instructions can be executed by the processor 601 of the electronic device to complete the method in the above embodiment.

[0147] It should be noted that when the instructions in the above computer-readable storage medium or the one or more instructions in the computer program product are executed by the processor of the electronic device, each process of the above method embodiment is implemented, and the same technical effects as the above method can be achieved. To avoid repetition, it will not be elaborated here.

[0148] Through the description of the above embodiments, those skilled in the art can clearly understand that for the convenience and conciseness of description, only the above division of each functional module is used as an example. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0149] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections between each other can be through some interfaces. The indirect couplings or communication connections of devices or units can be in electrical, mechanical or other forms.

[0150] The units described as separate components may or may not be physically separated. The components displayed as units may be one physical unit or multiple physical units, that is, they can be located in one place, or they can be distributed to multiple different places. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0151] In addition, the functional units in various embodiments of the present application can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0152] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiments of the present application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to enable a device (which can be a single-chip microcomputer, a chip, etc.) or a processor to execute all or part of the steps of the methods in various embodiments of the present application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, ROM, RAM, magnetic disks or optical discs that can store program codes.

[0153] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for suppressing torsional vibration, characterized in that: The method comprises: When the drive motor is in torque mode, the flip angle and flip speed of the drive motor are obtained; the flip angle is the tilt angle of the drive motor; the flip speed is the speed at which the housing of the drive motor flips; Based on the flip angle and the flip speed, judging whether the drive motor meets the torque compensation condition; the torque compensation condition is used to characterize the condition for performing torque compensation on the drive motor; If the drive motor meets the torque compensation condition, torque compensation is performed on the drive motor to suppress the torsional vibration of the drive motor.

2. The method according to claim 1, characterized in that The torque compensation conditions include: The flip angle is within a preset range, and the flip rotation speed is greater than a rotation speed threshold; when the flip angle of the rotor of the drive motor is within the preset range, there are two flip directions.

3. The method according to claim 1, characterized in that Obtaining the flip rotation speed includes: Obtaining a required torque of the vehicle and a motor torque of the drive motor; The flip rotation speed is determined based on the required torque and the motor torque.

4. The method according to claim 3, characterized in that Determining the flipping speed based on the required torque and the motor torque; Determine the torque change rate of the required torque and the target speed compensation coefficient corresponding to the motor torque; the motor torque and the target speed compensation coefficient satisfy a first mapping relationship; the first mapping relationship includes speed compensation coefficients corresponding to a plurality of motor torques one by one; The flip rotation speed is determined based on the torque change rate and the target rotation speed compensation coefficient.

5. The method according to claim 1, characterized in that The performing speed compensation on the driving motor includes: Obtaining the rotor speed of the driving motor; Determine a target torque compensation coefficient that matches the rotor speed; the rotor speed and the target torque compensation coefficient satisfy a second mapping relationship; the second mapping relationship includes a plurality of torque compensation coefficients that correspond one to one to a plurality of rotor speeds; Based on the rotor speed and the target torque compensation coefficient, torque compensation is performed on the drive motor.

6. The method according to claim 5, characterized in that The step of performing torque compensation on the drive motor based on the rotor speed and the target torque compensation coefficient includes: Based on the rotor speed, determining a speed fluctuation amount of the rotor speed; Based on the rotation speed fluctuation amount and the target torque compensation coefficient, torque compensation is performed on the drive motor.

7. The method according to claim 5, characterized in that The step of performing torque compensation on the drive motor based on the speed fluctuation amount and the target torque compensation coefficient includes: determining a torque compensation value based on the speed fluctuation amount and the target torque compensation coefficient; determining a first torque based on the torque compensation value and a required torque of the vehicle; The driving motor is controlled to output a first torque to achieve torque compensation for the driving motor.

8. A torsional vibration suppression device, characterized in that: The device comprises: an acquisition unit, a judgment unit and a suppression unit; The acquisition unit is used to acquire the flip angle and flip speed of the drive motor when the drive motor is in the torque mode; the flip angle is the tilt angle of the drive motor; the flip speed is the speed at which the housing of the drive motor flips; The judging unit is used to judge whether the drive motor meets the torque compensation condition based on the flip angle and the flip speed; the torque compensation condition is used to represent the condition for performing torque compensation on the drive motor; The suppression unit is used to perform torque compensation on the drive motor if the drive motor meets the torque compensation condition, so as to suppress the torsional vibration of the drive motor.

9. The device according to claim 8, characterized in that The acquisition unit is specifically used for: Obtaining a required torque of the vehicle and a motor torque of the drive motor; The flip rotation speed is determined based on the required torque and the motor torque.

10. A torsional vibration suppression system, characterized in that: include: Torsional vibration suppression device and drive motor; The torsional vibration suppression device is used to obtain the flip angle and flip speed of the drive motor when the drive motor is in the torque mode; the flip angle is the tilt angle of the drive motor; the flip speed is the speed at which the housing of the drive motor flips; The torsional vibration suppression device is further used to determine whether the drive motor meets the torque compensation condition based on the flip angle and the flip speed; the torque compensation condition is used to characterize the condition for performing torque compensation on the drive motor; The torsional vibration suppression device is further used to perform torque compensation on the drive motor if the drive motor meets the torque compensation condition, so as to suppress the torsional vibration of the drive motor.

11. A vehicle, characterized in that: Includes the torsional vibration suppression system as claimed in claim 10.

12. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the method according to any one of claims 1 to 7.

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