Method for managing tooth torque of new energy vehicle under active anti-shake function

Abstract

The invention relates to the technical field of vehicle control, and discloses a tooth torque management method under an active anti-shake function of a new energy vehicle, and the method comprises the following steps: obtaining current motor rotation speed and torque instruction data; performing torque amplitude limiting threshold query processing based on the motor rotating speed to generate a positive torque amplitude limiting threshold and a negative torque amplitude limiting threshold; the torque instruction is compared with a preset torque amplitude limiting enabling threshold value, torque amplitude limiting state machine control processing is carried out, and torque amplitude limiting state data are generated; when active anti-shake control is carried out on the new energy vehicle, the torque amplitude limiting state machine is used for monitoring the torque instruction trend in real time, dynamically recognizing whether the torque instruction is close to a zero risk area or not, limiting the torque instruction within a safety interval through amplitude limiting processing, avoiding frequent zero crossing of the torque between positive and negative, restraining the backlash knocking phenomenon of a transmission system, and improving the anti-shake performance of the new energy vehicle. The abnormal noise of tooth knocking sound is eliminated, the vehicle driving smoothness and the NVH performance are guaranteed, and the abrasion of transmission parts caused by torque fluctuation is reduced.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, specifically to a method for managing gear torque under the active anti-shake function of a new energy vehicle. Background Technology

[0002] The drive system of an electric vehicle mainly consists of a drive motor and a reducer. Compared with the engine and transmission of a traditional fuel vehicle, it lacks damping devices such as a clutch. Therefore, the torque output of the drive motor of an electric vehicle is more agile and faster. In actual operation, the motor will frequently switch between electric mode and generator mode.

[0003] Currently, new energy vehicles have the following technical defects when introducing active anti-shake function: When active anti-shake control is performed, the anti-shake compensation torque will be superimposed on the vehicle's basic torque command, causing the comprehensive torque command to frequently cross the zero position in the positive and negative ranges. If this torque command is not specially managed, it will cause backlash in the transmission system, producing knocking noises and affecting driving smoothness and NVH performance.

[0004] Therefore, a method for managing gear torque under the active anti-shake function of new energy vehicles is proposed to solve the above problems. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a method for managing gear torque under active anti-shake function in new energy vehicles. The method provided by this invention solves the problems mentioned in the background section.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a method for managing gear torque under active anti-shake function in new energy vehicles, the method comprising the following steps: The current motor speed and torque command data are obtained, wherein the motor speed is calculated based on the signal collected by the position sensor, and the torque command is the torque command output by the vehicle controller. Based on the motor speed, a torque limiting threshold query is performed to generate a positive torque limiting threshold and a negative torque limiting threshold. The torque command is compared with the preset torque limiting enable threshold, and torque limiting state machine control processing is performed to generate torque limiting state data. Based on the torque limiting status data, the torque command is dynamically limited so that the torque command is always maintained within the preset limiting range. The output of the limit torque command after dynamic limiting is sent to the motor actuator to achieve gear torque management.

[0007] Preferably, obtaining the current motor speed and torque command data includes the following steps: The motor rotor position signal is acquired in real time by a motor position sensor, and the motor speed data MotSpd is obtained based on the position signal using a differential calculation method. The torque command TrqCmd sent by the vehicle to the motor controller is obtained through CAN message parsing; The motor speed data MotSpd and the comprehensive torque command TrqCmd are imported into the torque management module as input parameters. The active anti-shake torque is calculated based on the motor speed fluctuation. The speed fluctuation is extracted through a first-order low-pass filter and a second-order high-pass filter. The anti-shake torque calculation formula is as follows: ; in To prevent shaking torque, This is the gain coefficient. This represents the speed fluctuation.

[0008] Preferably, the torque limiting threshold query processing includes the following steps: A torque limiting threshold lookup module is established, which includes two one-dimensional lookup units. The input is the motor speed MotSpd, and the output is the positive XCU torque limiting threshold, the negative XCU torque limiting threshold, the lower limit of positive torque limiting, and the upper limit of negative torque limiting. A linear interpolation algorithm is used to smooth the lookup table data and calculate the threshold transition value between adjacent speed points; The positive torque limiting enable threshold and the negative torque limiting enable threshold are calibrated based on the vehicle speed.

[0009] Preferably, the torque limiting state machine control includes the following steps: The state machine consists of four states, from State1 to State4. When TrqCmd is less than or equal to XCUTrqLimDownEnaThr, State1 jumps to State2. At this time, the upper limit of torque is +∞, the lower limit of torque is PosTrqLimThre, and the torque is limited to PosTrqLimThre. When TrqCmd is less than XCUTrqLimDownEnaThr at the next moment, the state machine jumps from State2 to State3. At this time, the upper limit of torque is NegTrqLimThre, and the lower limit of torque is -∞. When TrqCmd is greater than or equal to XCUTrqLimUpEnaThr, State3 jumps to State4. At this time, the upper limit of torque is NegTrqLimThre, the lower limit of torque is -∞, and the torque is limited to NegTrqLimThre. When TrqCmd is greater than XCUTrqLimUpEnaThr at the next moment, the state machine jumps from State4 to State1. At this time, the upper limit of torque is +∞, and the lower limit of torque is PosTrqLimThre. Pos2NegLo represents the lower limit of torque limit when the torque is positive, Pos2NegHi represents the upper limit of torque limit when the torque is positive, Neg2PosHi represents the upper limit of torque limit when the torque is negative, and Neg2Posto represents the lower limit of torque limit when the torque is negative.

[0010] Preferably, the dynamic limiting processing includes the following steps: The current limiting range is determined based on the state machine output. When the state is State3, the limiting range is [Pos2NegLo, Pos2NegHi). When the state is State2 or State4, the limiting range is (Neg2PosLo, Neg2PoSH). TrqCmd between the negative torque limiting threshold and the positive torque limiting threshold will be limited to the above two intervals, forming a vacuum zone near zero torque to avoid the knocking phenomenon caused by the combined torque after the anti-shake torque is superimposed frequently crossing zero.

[0011] Preferably, the dynamic limiting processing further includes the following steps: In the active image stabilization algorithm, a limiting influence factor is introduced, and the formula for adjusting the stabilization torque is: ; in For the original image stabilization compensation torque, The adjusted anti-shake compensation torque is λ, which is the limiting influence factor. The limiting influence factor λ is dynamically adjusted according to the state of the torque limiting state machine. A Kalman filter is used to perform noise filtering on the motor speed data MotSpd and the comprehensive torque command TrqCmd to generate filtered speed and torque command signals.

[0012] Preferably, the output torque command after limiting includes the following steps: The torque command after limiting A torque control module provided to the motor controller; Motor controller based on Generate PWM drive signals to control the motor output torque; Real-time monitoring of torque execution results, and comparing them with the torque command after the amplitude limit. The comparison is performed, and a limit parameter adjustment command is generated through the feedback loop.

[0013] Preferably, the output torque command after limiting further includes the following steps: Torque and vibration data were collected on a vehicle testing platform to calculate the backlash energy index. ; in To tap the energy index, The rate of change of torque over time. For torque, For time; Comparison before and after amplitude limiting Value changes, when If the decrease exceeds 30%, the knocking sound suppression is considered effective; The calibration values ​​of PosTrqLimEnaThr and NegTrqLimEnaThr are dynamically adjusted based on the verification results.

[0014] Preferably, the method further includes the following steps after outputting the torque command: When the sensor fails, switch to backup mode that estimates the speed based on the motor current; The state machine transition logic is enhanced with timeout protection. If the duration of a single state exceeds 100ms, it will be forcibly reset to State1. The threshold is stored with dual redundancy, and an alarm is triggered when the difference between the primary and backup tables exceeds 10%.

[0015] Compared with the prior art, the present invention provides a method for managing gear torque under the active anti-shake function of new energy vehicles, which has the following beneficial effects: 1. In this invention, when performing active anti-shake control for new energy vehicles, the torque command trend is monitored in real time by a torque limiting state machine. The torque command is dynamically identified as being close to the zero-risk area, and the torque command is limited to a safe range by limiting the torque command. This avoids the torque from frequently crossing zero between positive and negative values, which can suppress the backlash phenomenon in the transmission system, eliminate knocking noise, ensure the smoothness of vehicle driving and NVH performance, and reduce the wear of transmission components caused by torque fluctuations.

[0016] 2. In this invention, when performing active anti-shake control for new energy vehicles, a torque limiting threshold lookup module based on motor speed is used to query and dynamically adjust the positive and negative torque limiting thresholds in real time. This allows the limiting boundary to adaptively optimize with changes in speed, enabling it to adapt to different operating conditions such as low-speed crawling and high-speed cruising. This ensures a balance between anti-shake effect and tooth knock suppression, avoids performance limitations caused by fixed thresholds, and improves the adaptability and stability of the system in different driving scenarios.

[0017] 3. In this invention, when performing active anti-shake control for new energy vehicles, a smooth transition algorithm is used to filter the threshold when switching torque limiting states, thereby achieving a continuous and gradual transition of torque commands. This can eliminate torque step shocks, reduce instantaneous loads on the transmission system, ensure smooth changes in vehicle longitudinal acceleration, and improve ride comfort. At the same time, signal filtering and fault tolerance mechanisms enhance the system's anti-interference capability and reliability, ensuring that torque management can still operate safely under abnormal conditions. Attached Figure Description

[0018] Figure 1 This is a flowchart of a method for managing gear torque under active anti-shake function in a new energy vehicle according to the present invention; Figure 2 This is a schematic diagram of the state machine control logic for tooth torque management according to the present invention. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] A method for managing gear torque under active anti-shake function in new energy vehicles, the method includes the following steps: Obtain the current motor speed and torque command data, where the motor speed is calculated based on the signal collected by the position sensor, and the torque command is the torque command output by the vehicle controller; Based on the motor speed, a torque limiting threshold query is performed to generate positive and negative torque limiting thresholds. The torque command is compared with the preset torque limiting enable threshold, and torque limiting state machine control processing is performed to generate torque limiting state data. The torque command is dynamically limited based on the torque limiting status data, so that the torque command is always kept within the preset limit range. The output of the limit torque command after dynamic limiting is sent to the motor actuator to achieve gear torque management.

[0021] Please see Figure 1-2 Obtaining the current motor speed and torque command data includes the following steps: The motor rotor position signal is collected in real time by a motor position sensor, and the motor speed data MotSpd is obtained based on the position signal using a differential calculation method. The torque command TrqCmd sent by the vehicle to the motor controller is obtained through CAN message parsing; The motor speed data MotSpd and the comprehensive torque command TrqCmd are imported into the torque management module as input parameters. The active anti-shake torque is calculated based on the motor speed fluctuation. The speed fluctuation is extracted through a first-order low-pass filter and a second-order high-pass filter. The anti-shake torque calculation formula is as follows: ; in To compensate for the shaking torque, This is the gain coefficient. This refers to the speed fluctuation. It is obtained through the following steps: Motor speed signal A first-order low-pass filter is performed to obtain the reference speed. ; The motor speed signal is subjected to a second-order high-pass filter to obtain the speed fluctuation. ; The discrete form of a first-order low-pass filter is: ; in For the current moment, the first The reference rotational speed calculated from each sampling point For the current moment, the first The original motor speed measured at each sampling point, These are the filter coefficients. It is discrete time; The transfer function of a second-order high-pass filter is: ; in Let be the transfer function of the high-pass filter. For complex frequency variables, For the damping ratio, It is the natural frequency.

[0022] The torque limit threshold query process includes the following steps: A torque limiting threshold lookup module is established. The lookup module includes two one-dimensional lookup units. The input is the motor speed MotSpd, and the output is the positive XCU torque limiting threshold, the negative XCU torque limiting threshold, the lower limit of the positive torque limiting, and the upper limit of the negative torque limiting. The lookup operation of the torque limiting threshold lookup module includes the following steps: A one-dimensional lookup table indexed by motor speed MotSpd is constructed. The data points in the table are based on bench test calibration, and the interval between adjacent data points is 100 rpm. A binary search algorithm is used to locate the interval corresponding to the current MotSpd in the lookup table. When MotSpd matches a data point, the threshold is directly output. The specific operations include the following: Initialize the search range: Set the lower bound index of the search range , the upper bound index , where is the total number of rotational speed data points in the lookup table; Calculate the middle position: Calculate the middle point index of the current search range in each iteration, the formula is: ; where is the middle point index; Compare and judge: Compare the current motor speed MotSpd with the rotational speed value RPM[mid] at index mid in the lookup table: When MotSpd = RPM[mid], directly return mid as the matching position; When MotSpd < RPM[mid], adjust the search range so that the upper bound high = mid - 1; When MotSpd > RPM[mid], adjust the search range so that the lower bound low = mid + 1; Loop convergence: Repeat the above steps until low > high and an exact match is found; Range determination: Finally determine that the rotational speed range where MotSpd is located is [RPM[low], RPM[high]]; For MotSpd with non-exact match, calculate the threshold through linear interpolation, the formula is: ; where is the calculated threshold, is the lower limit value of the lookup table, is the upper limit value of the lookup table, is the lower limit rotational speed of the lookup table, is the upper limit rotational speed of the lookup table; Adopt the linear interpolation algorithm to smooth the data in the lookup table and calculate the threshold transition value between adjacent rotational speed points. The specific operations include the following: Determine the rotational speed range: When the motor speed MotSpd is between two adjacent rotational speed points and [[]]END]]in the lookup module, where is the low rotational speed node, is the high rotational speed node, establish the interpolation range , ; Obtain the boundary thresholds: Read corresponding threshold and corresponding threshold<000018{ where For low-speed nodes, For high-speed nodes; Calculate the interpolation ratio: Calculate the weighting coefficient based on the relative position of MotSpd within the interval at the current rotational speed, using the following formula: ; in The interpolation weight coefficients are in the interval [0,1]. Perform linear interpolation: based on weight coefficients The formula for calculating the smoothed threshold output is: ; in The smoothing threshold for the final output; The positive torque limiting enable threshold and the negative torque limiting enable threshold are calibrated based on the vehicle speed.

[0023] Torque limiting state machine control includes the following steps: The state machine consists of four states, from State1 to State4. When TrqCmd is less than or equal to XCUTrqLimDownEnaThr, State1 jumps to State2. At this time, the upper limit of torque is +∞, the lower limit of torque is PosTrqLimThre, and the torque is limited to PosTrqLimThre. When TrqCmd is less than XCUTrqLimDownEnaThr at the next moment, the state machine jumps from State2 to State3. At this time, the upper limit of torque is NegTrqLimThre, and the lower limit of torque is -∞. When TrqCmd is greater than or equal to XCUTrqLimUpEnaThr, State3 jumps to State4. At this time, the upper limit of torque is NegTrqLimThre, the lower limit of torque is -∞, and the torque is limited to NegTrqLimThre. When TrqCmd is greater than XCUTrqLimUpEnaThr at the next moment, the state machine jumps from State4 to State1. At this time, the upper limit of torque is +∞, and the lower limit of torque is PosTrqLimThre. Pos2NegLo represents the lower limit of torque limit when the torque is positive, Pos2NegHi represents the upper limit of torque limit when the torque is positive, Neg2PosHi represents the upper limit of torque limit when the torque is negative, and Neg2Posto represents the lower limit of torque limit when the torque is negative.

[0024] Dynamic limiting processing includes the following steps: The current limiting range is determined based on the state machine output. When the state is State3, the limiting range is [Pos2NegLo, Pos2NegHi). When the state is State2 or State4, the limiting range is (Neg2PosLo, Neg2PoSH). TrqCmd between the negative torque limiting threshold and the positive torque limiting threshold will be limited to the above two intervals, forming a vacuum zone near zero torque to avoid the knocking phenomenon caused by the combined torque after the anti-shake torque is superimposed frequently crossing zero.

[0025] Dynamic limiting processing also includes the following steps: In the active image stabilization algorithm, a limiting influence factor is introduced, and the formula for adjusting the stabilization torque is: ; in For the original image stabilization compensation torque, The adjusted anti-shake compensation torque is λ, which is the limiting influence factor. The limiting influence factor λ is dynamically adjusted according to the state of the torque limiting state machine to coordinate the anti-shake performance and the smoothness of the transmission system. A Kalman filter is used to perform noise filtering on the motor speed data MotSpd and the comprehensive torque command TrqCmd, generating filtered speed and torque command signals. The noise filtering process of the Kalman filter includes the following steps: Establish a state-space model with motor speed and torque as state variables and MotSpd and TrqCmd as observation variables; Execute the prediction step: Calculate the prior state estimate and covariance matrix, using the following formula: ; ; in for The prior state estimate vector at time t. Here is the state transition matrix. for The posterior state estimate vector at time -1 For the control matrix, for The control input vector at time -1 for The prior covariance matrix at time t, for The control input vector at time -1 The process noise covariance matrix is... It is discrete time; Perform the update step: Calculate the Kalman gain Update the posterior state estimate and covariance using the following formula: ; ; ; in for The Kalman gain matrix at time t. For the observation matrix, To observe the noise covariance matrix, for The vector of observations at time t, It is an identity matrix.

[0026] The output torque command after limiting includes the following steps: The torque command after limiting A torque control module provided to the motor controller; Motor controller based on Generate PWM drive signals to control the motor output torque; Real-time monitoring of torque execution results and comparison with the torque command after limiting. The comparison is performed, and a limiting parameter adjustment command is generated through the feedback loop. The parameter adjustment of the feedback loop includes the following steps: Calculate the actual torque and the torque command after limiting. The difference The formula is: Actual torque - T ; in This is the difference between the actual torque and the torque command after the limit is applied; A proportional-integral (PI) controller is used to process the difference. Generate adjustment instructions, the formula is: Adjustment instructions = ; in This is the proportionality coefficient. The integral coefficient is... This is the torque difference. It is a time variable; The adjustment instructions are mapped to the correction values ​​of calibration constants a, b, c, and d, and the lookup module parameters are updated every 100ms.

[0027] The output torque command after limiting also includes the following steps: Torque and vibration data were collected on a vehicle testing platform to calculate the backlash energy index. ; in To tap the energy index, The rate of change of torque over time. For torque, For time; Comparison before and after amplitude limiting Value changes, when If the decrease exceeds 30%, the knocking sound suppression is considered effective; The calibration values ​​of PosTrqLimEnaThr and NegTrqLimEnaThr are dynamically adjusted based on the verification results.

[0028] The method further includes the following steps after outputting the torque command: When the sensor fails, switch to backup mode that estimates the speed based on the motor current; The state machine transition logic is enhanced with timeout protection. If the duration of a single state exceeds 100ms, it will be forcibly reset to State1. The threshold is stored with dual redundancy, and an alarm is triggered when the difference between the primary and backup tables exceeds 10%.

[0029] The operation steps of this method for managing gear torque under the active anti-shake function of new energy vehicles are as follows: Step 1: Data Acquisition and Processing First, the system acquires the motor rotor position signal in real time through the motor position sensor and processes it using a differential calculation method to obtain high-precision motor speed data MotSpd. At the same time, the system obtains the basic torque command issued by the vehicle controller and superimposes it with the anti-shake compensation torque generated by the active anti-shake control algorithm to generate the final comprehensive torque command TrqCmd. This anti-shake compensation torque is adaptively adjusted based on the longitudinal vibration frequency of the vehicle. Its core calculation formula is a sine function, and the compensation amount is dynamically generated through gain coefficient, vibration frequency, and time variables, providing an accurate input source for subsequent torque management.

[0030] Step 2: Dynamic query of torque limit threshold The system has a built-in torque limiting threshold lookup module. This module uses the motor speed MotSpd as an index and contains two one-dimensional lookup units, which output the positive torque limiting threshold PosTrqLimThre and the negative torque limiting threshold NegTrqLimThre, respectively. These threshold data points are pre-calibrated and determined in bench testing based on the motor characteristic curve. A linear interpolation algorithm is used to smooth the lookup data and calculate the threshold transition value between adjacent speed data points to adapt to different operating conditions of the vehicle from low-speed crawling to high-speed cruising.

[0031] Step 3: State Machine Control and Intelligent State Switching The system initializes a torque limiting state machine containing four states, State1 to State4, and presets positive and negative torque limiting enable thresholds as trigger conditions for state transitions. The state machine continuously monitors the value of the comprehensive torque command TrqCmd: when TrqCmd is lower than the negative enable threshold, it jumps from State1 to State2; when TrqCmd decreases further, it jumps to State3; when TrqCmd is higher than the positive enable threshold, it jumps from State3 to State4. Each state defines corresponding upper and lower limits for torque limiting. In State2, the system limits the torque command to the positive threshold PosTrqLimThre, thereby preventing the torque from entering the negative range.

[0032] Step 4: Dynamic Limiting and Smooth Transition Execution Based on the current state output by the state machine and the corresponding dynamic limiting range, the system uses a clamping algorithm to process the comprehensive torque command TrqCmd in real time. This algorithm compares and constrains TrqCmd with the upper and lower limits of the current state. When the command is within the limiting range, the original value is directly output. When it exceeds the range, the corresponding boundary value is output. To ensure the smoothness of state transition, the system incorporates a smooth transition algorithm and uses a first-order inertial element to filter the limiting threshold, so that the torque command can smoothly change between different states and eliminate torque step shock.

[0033] Step 5: Torque Output and System Optimization Final torque command after dynamic limiting The torque control module provided to the motor controller generates a PWM drive signal to control the motor output torque. The system also constructs a closed-loop optimization mechanism to monitor the torque execution result in real time and dynamically adjust the calibration value of the limiting parameter through the feedback loop. In addition, the system integrates a fault tolerance mechanism, which automatically switches to backup mode when the sensor fails, and ensures management reliability under all operating conditions through state machine timeout protection and parameter dual redundancy storage strategy.

[0034] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0035] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A method for managing gear torque under active anti-shake function in new energy vehicles, characterized in that: The method includes the following steps: The current motor speed and torque command data are obtained, wherein the motor speed is calculated based on the signal collected by the position sensor, and the torque command is the torque command output by the vehicle controller. Based on the motor speed, a torque limiting threshold query is performed to generate a positive torque limiting threshold and a negative torque limiting threshold. The torque command is compared with the preset torque limiting enable threshold, and torque limiting state machine control processing is performed to generate torque limiting state data. Based on the torque limiting status data, the torque command is dynamically limited so that the torque command is always maintained within the preset limiting range. The output of the limit torque command after dynamic limiting is sent to the motor actuator to achieve gear torque management.

2. The method for managing gear torque under active anti-shake function in a new energy vehicle according to claim 1, characterized in that: The process of obtaining the current motor speed and torque command data includes the following steps: The motor rotor position signal is acquired in real time by a motor position sensor, and the motor speed data MotSpd is obtained based on the position signal using a differential calculation method. The torque command TrqCmd sent by the vehicle to the motor controller is obtained through CAN message parsing; The motor speed data MotSpd and the comprehensive torque command TrqCmd are imported into the torque management module as input parameters. The active anti-shake torque is calculated based on the motor speed fluctuation. The speed fluctuation is extracted through a first-order low-pass filter and a second-order high-pass filter. The anti-shake torque calculation formula is as follows: ； in To compensate for the shaking torque, This is the gain coefficient. This represents the speed fluctuation.

3. The method for managing gear torque under active anti-shake function in a new energy vehicle according to claim 1, characterized in that: The torque limiting threshold query process includes the following steps: A torque limiting threshold lookup module is established, which includes two one-dimensional lookup units. The input is the motor speed MotSpd, and the output is the positive XCU torque limiting threshold, the negative XCU torque limiting threshold, the lower limit of positive torque limiting, and the upper limit of negative torque limiting. A linear interpolation algorithm is used to smooth the lookup table data and calculate the threshold transition value between adjacent speed points; The positive torque limiting enable threshold and the negative torque limiting enable threshold are calibrated based on the vehicle speed.

4. The method for managing gear torque under active anti-shake function in a new energy vehicle according to claim 1, characterized in that: The torque limiting state machine control includes the following steps: The state machine consists of four states, from State1 to State4. When TrqCmd is less than or equal to XCUTrqLimDownEnaThr, State1 jumps to State2. At this time, the upper limit of torque is +∞, the lower limit of torque is PosTrqLimThre, and the torque is limited to PosTrqLimThre. When TrqCmd is less than XCUTrqLimDownEnaThr at the next moment, the state machine jumps from State2 to State3. At this time, the upper limit of torque is NegTrqLimThre, and the lower limit of torque is -∞. When TrqCmd is greater than or equal to XCUTrqLimUpEnaThr, State3 jumps to State4. At this time, the upper limit of torque is NegTrqLimThre, the lower limit of torque is -∞, and the torque is limited to NegTrqLimThre. When TrqCmd is greater than XCUTrqLimUpEnaThr at the next moment, the state machine jumps from State4 to State1. At this time, the upper limit of torque is +∞, and the lower limit of torque is PosTrqLimThre. Pos2NegLo represents the lower limit of torque limit when the torque is positive, Pos2NegHi represents the upper limit of torque limit when the torque is positive, Neg2PosHi represents the upper limit of torque limit when the torque is negative, and Neg2Posto represents the lower limit of torque limit when the torque is negative.

5. The method for managing gear torque under active anti-shake function in a new energy vehicle according to claim 1, characterized in that: The dynamic limiting process includes the following steps: The current limiting range is determined based on the state machine output. When the state is State3, the limiting range is [Pos2NegLo, Pos2NegHi). When the state is State2 or State4, the limiting range is (Neg2PosLo, Neg2PoSH). TrqCmd between the negative torque limiting threshold and the positive torque limiting threshold will be limited to the above two intervals, forming a vacuum zone near zero torque to avoid the knocking phenomenon caused by the combined torque after the anti-shake torque is superimposed frequently crossing zero.

6. The method for managing gear torque under active anti-shake function in a new energy vehicle according to claim 5, characterized in that: The dynamic limiting process also includes the following steps: In the active image stabilization algorithm, a limiting influence factor is introduced, and the formula for adjusting the stabilization torque is: ； in For the original image stabilization compensation torque, The adjusted anti-shake compensation torque is λ, which is the limiting influence factor. The limiting influence factor λ is dynamically adjusted according to the state of the torque limiting state machine. A Kalman filter is used to perform noise filtering on the motor speed data MotSpd and the comprehensive torque command TrqCmd to generate filtered speed and torque command signals.

7. The method for managing gear torque under active anti-shake function in a new energy vehicle according to claim 1, characterized in that: The output torque command after limiting includes the following steps: The torque command after limiting A torque control module provided to the motor controller; Motor controller based on Generate PWM drive signals to control the motor output torque; Real-time monitoring of torque execution results, and comparing them with the torque command after the amplitude limit. The comparison is performed, and a limit parameter adjustment command is generated through the feedback loop.

8. The method for managing gear torque under active anti-shake function in a new energy vehicle according to claim 7, characterized in that: The output torque command after limiting also includes the following steps: Torque and vibration data were collected on a vehicle testing platform to calculate the backlash energy index. ； in To tap the energy index, The rate of change of torque over time. For torque, For time; Comparison before and after amplitude limiting Value changes, when If the decrease exceeds 30%, the knocking sound suppression is considered effective; The calibration values ​​of PosTrqLimEnaThr and NegTrqLimEnaThr are dynamically adjusted based on the verification results.

9. The method for managing gear torque under active anti-shake function in a new energy vehicle according to claim 1, characterized in that: The method further includes the following steps after outputting the torque command: When the sensor fails, switch to backup mode that estimates the speed based on the motor current; The state machine transition logic is enhanced with timeout protection. If the duration of a single state exceeds 100ms, it will be forcibly reset to State1. The threshold is stored with dual redundancy, and an alarm is triggered when the difference between the primary and backup tables exceeds 10%.

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