Anti-shake control method and device for disconnected differential electric drive assembly

Abstract

The invention relates to an anti-shake control method and device for an electric drive assembly of a disconnected differential mechanism, and relates to the technical field of electric drive assembly control. The anti-shake control method comprises the steps that based on the vehicle speed, a first tooth leaning rotating speed and a second tooth leaning rotating speed smaller than the first tooth leaning rotating speed are set; determining a first target rotating speed and a second target rotating speed of a motor rotor shaft based on the first tooth leaning rotating speed, the second tooth leaning rotating speed and the differential rotating speed; and after the motor rotor shaft is controlled to operate for a set distance or set time at the first target rotating speed, gear leaning is completed at the second target rotating speed. As the second tooth leaning rotating speed is smaller than the first tooth leaning rotating speed, tooth leaning does not occur after the motor rotor shaft runs for a set distance or set time at the first target rotating speed, and at the moment, tooth leaning is completed at the second target rotating speed, so that shaking can be reduced, and compared with the whole tooth leaning process completed at the second target rotating speed, the used time is shorter, and the tooth leaning efficiency is improved. The problem that the use experience is affected in the prior art is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electric drive assembly control, in particular to a disconnection type differential electric drive assembly anti-shake control method and device. BACKGROUND

[0002] With the progress of technology and the development of the market, electric vehicles have a larger and larger market share. Currently, electric vehicle electric drive assemblies mainly adopt traditional differential structures. Four-wheel drive vehicles do not need too much power in the cruising state, but due to mechanical structure limitations, the front and rear motors need to work simultaneously, increasing energy consumption. The stringent requirements of new energy vehicles for endurance efficiency have given rise to the development of disconnection type differential technology. Its core value lies in realizing two-wheel drive / four-wheel drive intelligent switching through an electromagnetic actuator. In light load working conditions such as cruising and coasting, it can be switched to two-wheel drive, which can reduce transmission loss by more than 8% compared with traditional mechanical differentials, but there are problems of large backlash torque zero shaking and dynamic control.

[0003] In the prior art, electric vehicle anti-shake control strategies are mostly based on active damping control and tooth torque. For traditional non-decoupled differentials with small gaps, torque zero shaking can be effectively solved.

[0004] However, due to the large backlash of the disconnection type differential structure, the torque tooth method has a large speed when the teeth are engaged, and the shaking is serious. The active damping scheme cannot solve the torque zero shaking, which affects the user experience. SUMMARY

[0005] The present application provides a disconnection type differential electric drive assembly anti-shake control method and device, which can solve the problem that in the prior art, due to the large backlash of the disconnection type differential structure, the torque tooth method has a large speed when the teeth are engaged, and the shaking is serious. The active damping scheme cannot solve the torque zero shaking, which affects the user experience.

[0006] In a first aspect, the embodiments of the present application provide a disconnection type differential electric drive assembly anti-shake control method, which comprises: Based on the vehicle speed, set a first tooth engaging speed and a second tooth engaging speed less than the first tooth engaging speed; Based on the first tooth engaging speed, the second tooth engaging speed and the differential speed, determine the first target speed and the second target speed of the motor rotor shaft; After controlling the motor rotor shaft to run at the first target speed for a set distance or a set time, switch to complete the tooth engagement at the second target speed.

[0007] In an embodiment, the differential speed is obtained according to the following steps: Obtain the left wheel speed and the right wheel speed; The differential speed is obtained based on the left wheel speed, the right wheel speed and the motor assembly reduction ratio.

[0008] In one embodiment, the first target speed of the motor rotor shaft is obtained according to the formula: The differential speed is obtained; wherein, is the differential speed, is the left wheel speed, is the right wheel speed, is the motor assembly reduction ratio.

[0009] In one embodiment, the distance set by the first target speed or the distance set by the first target speed and the set time is less than the gear gap.

[0010] In one embodiment, the gear gap is determined based on the motor speed and the differential speed.

[0011] In one embodiment, the position integral of the gear engagement distance is obtained according to the formula: to the equivalent gear gap; wherein, is the position integral of the gear engagement distance, is the angle conversion coefficient, is the motor speed, is the differential speed, is the time.

[0012] In one embodiment, the first target speed and the second target speed of the motor rotor shaft are determined based on the first gear engagement speed, the second gear engagement speed and the differential speed, comprising: The first target speed of the motor rotor shaft is determined based on the first gear engagement speed and the differential speed; The second target speed of the motor rotor shaft is determined based on the second gear engagement speed and the differential speed.

[0013] In one embodiment, the target speed of the motor rotor shaft is obtained according to the formula: wherein, is the target speed of the motor rotor shaft, is the differential speed, is the gear engagement speed.

[0014] In one embodiment, when the second target speed is switched: The speed control torque limit value is obtained according to the vehicle speed; The speed control torque of the first target speed switching to the second target speed is adjusted based on the speed control torque limit value.

[0015] ​In a second aspect, the embodiments of the present application also provide a disconnecting differential electric drive assembly anti-shake control device, which comprises: The preset module is configured to set a first tooth-engaging rotating speed and a second tooth-engaging rotating speed smaller than the first tooth-engaging rotating speed based on the vehicle speed; The acquisition module is configured to determine a first target rotating speed and a second target rotating speed of the motor rotor shaft based on the first tooth-engaging rotating speed, the second tooth-engaging rotating speed and the differential rotating speed; The control module is configured to control the motor rotor shaft to run at the first target rotating speed for a set distance or a set time, and then switch to complete tooth engagement at the second target rotating speed.

[0016] The technical scheme provided by the embodiments of the present application has the following beneficial effects: When the disconnecting differential electric drive assembly anti-shake control method is used, the first tooth-engaging rotating speed and the second tooth-engaging rotating speed smaller than the first tooth-engaging rotating speed are set based on the vehicle speed, the first target rotating speed and the second target rotating speed of the motor rotor shaft are determined based on the first tooth-engaging rotating speed, the second tooth-engaging rotating speed and the differential rotating speed, and the motor rotor shaft is controlled to run at the first target rotating speed for a set distance or a set time, and then switch to complete tooth engagement at the second target rotating speed. Since the second tooth-engaging rotating speed is smaller than the first tooth-engaging rotating speed, the motor rotor shaft has not yet engaged the teeth after running at the first target rotating speed for a set distance or a set time, and then switches to complete tooth engagement at the second target rotating speed, which can reduce the shaking, and the time used is shorter compared to using the second target rotating speed to complete the entire tooth engagement process. The problem that the tooth gap of the disconnecting differential structure is large, the speed is large when tooth engagement is adopted by using the torque tooth engagement method, the shaking is serious, and the torque zero-crossing shaking is difficult to solve by using the active damping scheme, which affects the use experience, is solved. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical scheme in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creating any labor.

[0018] Figure 1 It is a flowchart of the disconnecting differential electric drive assembly anti-shake control method embodiment of the present application.

[0019] Figure 2 It is a schematic diagram of the combination tooth and the connection tooth in the disconnecting differential tooth gap structure.

[0020] Figure 3 It is a schematic diagram of the connection tooth and the differential case in the disconnecting differential tooth gap structure.

[0021] Figure 4It is a schematic view of an embodiment of the anti-shake control method of the disconnecting differential electric drive assembly. DETAILED DESCRIPTION

[0022] In order to enable persons skilled in the art to better understand the scheme of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by persons skilled in the art without creative labor fall within the scope of protection of the present application.

[0023] Firstly, some technical terms in the present application are explained and described so as to facilitate the understanding of the present application by persons skilled in the art.

[0024] As shown in Figure 2 and Figure 3 , the disconnecting differential gear gap structure mainly consists of two parts, one is the gap between the differential case and the connecting tooth, which is the main gap, accounting for 70%, and the other is the tooth side gap of the planetary gear set, accounting for 25%, the two structures contribute to the gap of about 150° (motor shaft input end), when the output torque is in the positive direction, the connecting tooth is driven forward by the motor shaft and is in contact with the left differential case and the connecting tooth to complete the tooth, when the output torque is in the negative direction, the connecting tooth is driven backward by the motor shaft and is in contact with the right differential case and the connecting tooth to complete the tooth, when the direction of the motor shaft output torque is reversed, the motor shaft needs to rotate 150° of the gap to complete the tooth.

[0025] In order to make the purpose, technical solutions and advantages of the present application more clear, the embodiments of the present application will be further described in detail below in combination with the drawings.

[0026] In a first aspect, the embodiments of the present application provide an anti-shake control method of a disconnecting differential electric drive assembly.

[0027] In an embodiment, referring to Figure 1 and Figure 4 , Figure 1 the flowchart of the first embodiment of the anti-shake control method of the disconnecting differential electric drive assembly of the present application is shown, Figure 4 the schematic diagram of the first embodiment of the anti-shake control method of the disconnecting differential electric drive assembly of the present application is shown. As shown in Figure 1 and Figure 4 , the anti-shake control method of the disconnecting differential electric drive assembly comprises: S1: based on the vehicle speed, setting a first tooth engaging speed and a second tooth engaging speed smaller than the first tooth engaging speed.

[0028] S2: determining the first target speed and the second target speed of the motor rotor shaft based on the first gear engagement speed, the second gear engagement speed and the differential speed.

[0029] S3: controlling the motor rotor shaft to run at the first target speed for a set distance or a set time, and then switching to complete the gear engagement at the second target speed.

[0030] In the anti-shake control method of the disconnecting differential electric drive assembly, based on the vehicle speed, the first gear engagement speed and the second gear engagement speed smaller than the first gear engagement speed are set, the first target speed and the second target speed of the motor rotor shaft are determined based on the first gear engagement speed, the second gear engagement speed and the differential speed, and the motor rotor shaft is controlled to run at the first target speed for a set distance or a set time, and then switching to complete the gear engagement at the second target speed. Since the second gear engagement speed is smaller than the first gear engagement speed, the motor rotor shaft has not yet engaged after running at the first target speed for a set distance or a set time, and then switching to complete the gear engagement at the second target speed can reduce the shaking, and the time used is shorter compared to using the second target speed to complete the entire gear engagement process. The problem of affecting the use experience due to the large gear gap of the disconnecting differential structure, the large speed during gear engagement when using the torque gear engagement method, the serious shaking, and the difficulty in solving the torque zero-crossing shaking by using the active damping scheme is solved.

[0031] Further, in an embodiment, the differential speed is obtained according to the following steps: obtaining the left wheel speed and the right wheel speed; obtaining the differential speed based on the left wheel speed, the right wheel speed and the motor assembly reduction ratio.

[0032] In this embodiment, the process of obtaining the differential speed is: obtaining the left wheel speed and the right wheel speed, and obtaining the differential speed based on the left wheel speed, the right wheel speed and the motor assembly reduction ratio. The process is simple, convenient and fast to obtain the differential speed, which helps to solve the problem of affecting the use experience due to the large gear gap of the disconnecting differential structure, the large speed during gear engagement when using the torque gear engagement method, the serious shaking, and the difficulty in solving the torque zero-crossing shaking by using the active damping scheme.

[0033] Further, in an embodiment, the differential speed is obtained according to the formula: obtaining the differential speed; wherein, is the differential speed, is the left wheel speed, is the right wheel speed, is the motor assembly reduction ratio.

[0034] In this embodiment, the differential speed is obtained according to the formula: obtaining the differential speed; wherein, is a differential speed, is a left wheel speed, is a right wheel speed, is a motor assembly reduction ratio. The differential speed is obtained quickly and conveniently, which helps to solve the problem in the prior art that the tooth gap of the disconnecting differential structure is large, the speed is large when the torque relies on the teeth, the shaking is serious, the torque zero-crossing shaking is difficult to solve by using the active damping scheme, and the use experience is affected.

[0035] Further, in an embodiment, the distance running at the first target speed for the set distance or the set time is less than the gear gap.

[0036] In this embodiment, the distance running at the first target speed for the set distance or the set time is less than the gear gap, which prevents the shaking caused by early tooth engagement and affects the use experience.

[0037] Further, in an embodiment, the gear gap is determined based on the motor speed and the differential speed.

[0038] In this embodiment, the gear gap is determined based on the motor speed and the differential speed. Compared with the direct measurement method, the acquisition process is faster and more convenient, which facilitates the planning of the set distance or the set time running at the first target speed, and helps to solve the problem in the prior art that the tooth gap of the disconnecting differential structure is large, the speed is large when the torque relies on the teeth, the shaking is serious, the torque zero-crossing shaking is difficult to solve by using the active damping scheme, and the use experience is affected.

[0039] Further, in an embodiment, the position integral of the tooth engagement distance is obtained according to the formula: to obtain an equivalent gear gap; wherein, is the position integral of the tooth engagement distance, is an angle conversion coefficient, is the motor speed, is the differential speed, is time.

[0040] In this embodiment, the position integral of the tooth engagement distance is obtained according to the formula: to obtain an equivalent gear gap; wherein, is the position integral of the tooth engagement distance, is an angle conversion coefficient, is the motor speed, is the differential speed, The time is convenient to obtain the gear gap, convenient to plan the set distance or set time of running at the first target rotating speed, and helps to solve the problem of existing technology that the gear gap of the disconnecting differential structure is large, the speed is large when the torque is used to rely on the tooth, the shaking is serious, the active damping scheme is difficult to solve the torque zero shaking, and the use experience is affected.

[0041] In this example, the position integral of the tooth-relying distance refers to the gear gap, and the difference between the motor rotating speed and the differential rotating speed is the distance traveled by the gear tooth-relying.

[0042] Further, in an embodiment, the first target rotating speed and the second target rotating speed of the motor rotor shaft are determined based on the first tooth-relying rotating speed, the second tooth-relying rotating speed and the differential rotating speed, comprising: determining the first target rotating speed of the motor rotor shaft based on the first tooth-relying rotating speed and the differential rotating speed; determining the second target rotating speed of the motor rotor shaft based on the second tooth-relying rotating speed and the differential rotating speed.

[0043] In this embodiment, the first target rotating speed and the second target rotating speed of the motor rotor shaft are determined based on the first tooth-relying rotating speed, the second tooth-relying rotating speed and the differential rotating speed, specifically comprising determining the first target rotating speed of the motor rotor shaft based on the first tooth-relying rotating speed and the differential rotating speed, and determining the second target rotating speed of the motor rotor shaft based on the second tooth-relying rotating speed and the differential rotating speed, which is convenient to obtain the first target rotating speed and the second target rotating speed of the motor rotor shaft.

[0044] Further, in an embodiment, according to the formula: the target rotating speed of the motor rotor shaft is obtained; wherein, the target rotating speed of the motor rotor shaft is, the differential rotating speed is, the tooth-relying rotating speed is.

[0045] In this embodiment, according to the formula: the target rotating speed of the motor rotor shaft is obtained; wherein, the target rotating speed of the motor rotor shaft is, the differential rotating speed is, the tooth-relying rotating speed is. It is convenient to determine the target rotating speed of the motor rotor shaft, which helps to solve the problem of existing technology that the gear gap of the disconnecting differential structure is large, the speed is large when the torque is used to rely on the tooth, the shaking is serious, the active damping scheme is difficult to solve the torque zero shaking, and the use experience is affected.

[0046] Further, in an embodiment, when the second target rotating speed is switched: the rotating speed control torque limiting value is obtained according to the vehicle speed; The speed control torque limit value is used to adjust the speed control torque when the first target speed is switched to the second target speed.

[0047] In this embodiment, when it is necessary to switch to the second target speed, the speed control torque limit value is obtained according to the vehicle speed; and the speed control torque when the first target speed is switched to the second target speed is adjusted based on the speed control torque limit value, so as to slow down the speed and prevent shaking.

[0048] In this embodiment, the speed control torque limit value is used to prevent the whole vehicle from shaking due to too large torque when the speed control relies on the gear.

[0049] On the other hand, a disconnecting differential electric drive assembly anti-shaking control device comprises: A preset module is configured to set a first gear-relying speed and a second gear-relying speed smaller than the first gear-relying speed based on the vehicle speed; An acquisition module is configured to determine a first target speed and a second target speed of the motor rotor shaft based on the first gear-relying speed, the second gear-relying speed and the differential speed; A control module is configured to control the motor rotor shaft to run at the first target speed for a set distance or a set time, and then switch to complete the gear-relying at the second target speed.

[0050] When the disconnecting differential electric drive assembly anti-shaking control method is used, the first gear-relying speed and the second gear-relying speed smaller than the first gear-relying speed are set based on the vehicle speed, the first target speed and the second target speed of the motor rotor shaft are determined based on the first gear-relying speed, the second gear-relying speed and the differential speed, and the motor rotor shaft is controlled to run at the first target speed for a set distance or a set time, and then switch to complete the gear-relying at the second target speed. Since the second gear-relying speed is smaller than the first gear-relying speed, the motor rotor shaft has not yet relied on the gear after running at the first target speed for a set distance or a set time, and then switches to complete the gear-relying at the second target speed, which can reduce the shaking, and the time used is shorter compared with the use of the second target speed to complete the entire gear-relying process. The problem that the disconnecting differential structure has a large gear gap, the speed is large when relying on the torque, the shaking is serious, and it is difficult to solve the torque zero shaking by using the active damping scheme, and the use experience is affected, is solved.

[0051] In the disconnecting differential electric drive assembly anti-shaking control device, the functions of each module correspond to the steps in the disconnecting differential electric drive assembly anti-shaking control method, and the functions and implementation processes will not be described here.

[0052] The control module can be a personal computer (PC), a notebook computer, a server, or other devices with data processing functions.

[0053] In an embodiment of the present application, a device for anti-hunting control of an open differential electric drive assembly can include a processor, a memory, a communication interface, and a communication bus.

[0054] The communication bus can be of any type, for interconnecting the processor, the memory, and the communication interface.

[0055] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces for interconnecting devices within the device for anti-hunting control of an open differential electric drive assembly, and interfaces for interconnecting the device for anti-hunting control of an open differential electric drive assembly with other devices (e.g., other computing devices or user devices). The physical interfaces can be Ethernet interfaces, fiber optic interfaces, ATM interfaces, etc.; the user devices can be a display (Display), a keyboard (Keyboard), etc.

[0056] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0057] The processor can be a general-purpose processor that can invoke an anti-hunting control program for an open differential electric drive assembly stored in the memory and execute the anti-hunting control method for an open differential electric drive assembly provided by the embodiments of the present application. For example, the general-purpose processor can be a central processing unit (CPU). The method executed by the anti-hunting control program for an open differential electric drive assembly when invoked can refer to the various embodiments of the anti-hunting control method for an open differential electric drive assembly of the present application, which will not be described here.

[0058] In a third aspect, the embodiments of the present application also provide a computer-readable storage medium.

[0059] The computer-readable storage medium of the present application stores an anti-hunting control program for an open differential electric drive assembly, wherein the anti-hunting control program for an open differential electric drive assembly, when executed by a processor, implements the steps of the anti-hunting control method for an open differential electric drive assembly as described above.

[0060] The method realized when the disconnecting differential electric drive assembly anti-shake control program is executed can refer to each embodiment of the disconnecting differential electric drive assembly anti-shake control method of the present application, which will not be repeated here.

[0061] It should be noted that the serial numbers of the above embodiments of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0062] The terms "comprising" and "having" and any variations thereof in the specification and claims of the present application and the above drawings are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product or device. The terms "first", "second" and "third" and the like descriptions are used to distinguish different objects, and do not represent the order or limit the types of "first", "second" and "third".

[0063] In the description of the embodiments of the present application, "exemplary", "for example" or "for instance" is used to represent as an example, illustration or description. Any embodiment or design scheme described as "exemplary", "for example" or "for instance" in the embodiments of the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. In fact, the words "exemplary", "for example" or "for instance" are intended to present the relevant concept in a specific way.

[0064] In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in the text only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases of A alone, A and B together, and B alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0065] In some of the processes described in the embodiments of the present application, a plurality of operations or steps are included in a specific order, but it should be understood that these operations or steps can be executed or executed in parallel without the order in which they appear in the embodiments of the present application. The serial number of the operation is only used to distinguish different operations, and the serial number itself does not represent any execution order. In addition, these processes can include more or fewer operations, and these operations or steps can be executed in sequence or in parallel, and these operations or steps can be combined.

[0066] Those skilled in the art can clearly understand the above-mentioned embodiment method can be realized by means of software and the necessary general hardware platform, of course, can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a plurality of instructions for making a terminal device execute the method described in each embodiment of the present application.

[0067] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent process transformation using the content of the specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for anti-shake control of a disconnectable differential electric drive assembly, characterized in that, include: Based on the vehicle speed, a first guide tooth speed and a second guide tooth speed that is lower than the first guide tooth speed are set. Based on the first gear speed, the second gear speed, and the differential speed, determine the first target speed and the second target speed of the motor rotor shaft; After the control motor rotor shaft runs a set distance or set time at the first target speed, it switches to complete the gear engagement at the second target speed.

2. The anti-shake control method for a disconnectable differential electric drive assembly as described in claim 1, characterized in that, The differential speed is obtained according to the following steps: Get the speed of the left wheel and the speed of the right wheel; The differential speed is obtained based on the left wheel speed, the right wheel speed, and the reduction ratio of the motor assembly.

3. The anti-shake control method for a disconnectable differential electric drive assembly as described in claim 2, characterized in that, According to the formula: Obtain the differential speed; in, The differential speed, The rotational speed of the left wheel. The rotational speed of the right wheel. This represents the reduction ratio of the motor assembly.

4. The anti-shake control method for a disconnectable differential electric drive assembly as described in claim 1, characterized in that, The distance traveled at the first target speed for a set distance or time is less than the gear clearance.

5. The anti-shake control method for a disconnectable differential electric drive assembly as described in claim 4, characterized in that, The gear clearance is determined based on the motor speed and the differential speed.

6. The anti-shake control method for a disconnectable differential electric drive assembly as described in claim 5, characterized in that, According to the formula: Obtain the position integral of the tooth contact distance to obtain the equivalent gear backlash; in, The position integral is the distance between the teeth. This is the angle conversion factor. This refers to the motor speed. The differential speed, For time.

7. The anti-shake control method for a disconnectable differential electric drive assembly as described in claim 1, characterized in that, The determination of the first target speed and the second target speed of the motor rotor shaft based on the first gear speed, the second gear speed, and the differential speed includes: Based on the first gear speed and the differential speed, determine the first target speed of the motor rotor shaft; The second target speed of the motor rotor shaft is determined based on the second gear speed and the differential speed.

8. The anti-shake control method for a disconnectable differential electric drive assembly as described in claim 7, characterized in that, According to the formula: Obtain the target rotational speed of the motor rotor shaft; in, The target rotational speed of the motor rotor shaft. The differential speed, The speed is determined by the gear rotation speed.

9. The anti-shake control method for a disconnectable differential electric drive assembly as described in claim 1, characterized in that, When switching to the second target speed: The torque limit value for speed control is obtained based on vehicle speed; Based on the speed control torque limit value, adjust the speed control torque to switch from the first target speed to the second target speed.

10. A vibration control device for a disconnectable differential electric drive assembly, characterized in that, include: The preset module is used to set the first tooth rotation speed and the second tooth rotation speed which is lower than the first tooth rotation speed based on the vehicle speed; The acquisition module is used to determine the first target speed and the second target speed of the motor rotor shaft based on the first tooth speed, the second tooth speed and the differential speed. The control module is used to control the motor rotor shaft to run at a first target speed for a set distance or a set time, and then switch to a second target speed to complete the gear engagement.

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