Motor anti-shake control method and device, equipment and storage medium

Abstract

The invention discloses a motor anti-shake control method, device and equipment and a storage medium, and relates to the technical field of motor anti-shake, and the method comprises the steps: obtaining a motor acceleration value based on a motor rotation speed, and determining a torque interval offset according to the motor acceleration value; and correcting a preset to-be-corrected torque interval according to the torque interval offset to obtain a corrected torque interval, and performing motor anti-shake control according to the corrected torque interval. According to the invention, the anti-shake control effect of the motor under different driving conditions is improved.

Description

Technical Field

[0001] This application relates to the field of motor anti-vibration technology, and in particular to a motor anti-vibration control method, device, equipment and storage medium. Background Technology

[0002] With the rapid development of automotive technology, customers have increasingly higher requirements for the driving performance and comfort of the vehicle. When the vehicle is tip-in (accelerating) or tip-out (releasing the accelerator), the motor torque control will experience varying degrees of knocking noise and vibration due to gear backlash. Therefore, users have also put forward higher requirements for motor anti-vibration control.

[0003] Traditional motor anti-shake control calibrates a range of gradually increasing and decreasing torque near zero torque to reduce the rate of torque change during gear shifting, thereby reducing knocking noise and vibration. However, this method has significant drawbacks, including limited coverage of driving conditions and inability to meet the needs of diverse driving environments. For example, the anti-knock effect decreases and the noise persists during driving conditions such as going uphill, downhill, and braking. Therefore, a new motor anti-shake control method is urgently needed to improve the effectiveness of motor anti-shake control under different driving conditions.

[0004] The above content is only used to help understand the technical solution of this application and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The main objective of this application is to provide a motor anti-shake control method, device, equipment, and storage medium, aiming to address the technical problem of how to improve the effectiveness of motor anti-shake control under different driving conditions.

[0006] To achieve the above objectives, this application provides a motor anti-vibration control method, the motor anti-vibration control method comprising:

[0007] The motor acceleration value is obtained based on the motor speed, and the torque range offset is determined based on the motor acceleration value;

[0008] The preset torque range to be corrected is corrected according to the torque range offset to obtain the corrected torque range, and motor anti-vibration control is performed according to the corrected torque range.

[0009] In one embodiment, the step of determining the torque range offset based on the motor acceleration value includes:

[0010] Determine the target correction stage corresponding to the motor acceleration value, and determine the target interval correction table corresponding to the target correction stage;

[0011] The offset of the motor acceleration value corresponding to the target interval correction table is determined as the torque interval offset.

[0012] In one embodiment, the preset torque range to be corrected includes a preset positive torque gradual increase range corresponding to a positive torque gradual increase stage, and the step of performing motor anti-vibration control based on the corrected torque range includes:

[0013] When the input first required torque value is less than the minimum value of the positive torque gradual increase phase, the minimum value of the positive torque gradual increase phase is taken as the first initial value of the positive torque gradual increase interval, wherein the first required torque value includes the torque value input at the beginning of the positive torque gradual increase interval;

[0014] When the input first required torque value is greater than or equal to the lowest value of the positive torque gradual increase phase, the first required torque value is used as the first initial value of the positive torque gradual increase range.

[0015] Determine the first ramp-up slope of the positive torque ramp-up phase, and based on the first ramp-up slope within the positive torque ramp-up range, control the pre-torque to ramp-up from the first initial value to the positive torque ramp-up endpoint value.

[0016] After the pre-torque reaches the positive torque gradual increase endpoint value, positive torque trajectory control is performed based on the positive torque gradual increase endpoint value, and a preset positive torque gradual decrease phase is entered. The positive torque trajectory control sequentially includes a preset positive torque transition phase with a varying first step length for increasing torque, a preset positive torque increase phase with a fixed second step length for increasing torque, and a preset positive torque decrease phase with a preset first proportional coefficient for decreasing torque.

[0017] In one embodiment, the preset torque range to be corrected includes a preset positive torque descent range corresponding to a positive torque descent phase, and the step of performing motor anti-vibration control based on the corrected torque range includes:

[0018] Determine the first descent slope of the positive torque descent phase, and control the pre-torque descent to the positive torque descent endpoint value within the positive torque descent range based on the first descent slope;

[0019] When the input second required torque value is less than the first threshold, a preset negative torque descent phase is entered, wherein the second required torque value includes the torque value input when the pre-torque reaches the positive torque descent endpoint value;

[0020] When the input second required torque value is greater than or equal to the first threshold, the preset positive torque gradual increase phase is entered.

[0021] In one embodiment, the preset torque range to be corrected includes a preset negative torque descent range corresponding to a negative torque descent stage, and the step of performing motor anti-vibration control based on the corrected torque range includes:

[0022] When the input third demand torque value is greater than the highest value of the negative torque descent phase, the highest value of the negative torque descent phase is used as the second initial value of the negative torque descent interval, wherein the third demand torque value includes the torque value input at the beginning of the negative torque descent interval;

[0023] When the input third demand torque value is less than or equal to the highest value of the negative torque descent phase, the third demand torque value is used as the second initial value of the negative torque descent range.

[0024] Determine the second descent slope of the negative torque descent phase, and based on the second descent slope within the negative torque descent range, control the pre-torque to gradually decrease from the second initial value to the negative torque descent endpoint value;

[0025] After the pre-torque reaches the negative torque descent endpoint value, negative torque trajectory control is performed based on the negative torque descent endpoint value, and a preset negative torque descent phase is entered. The negative torque trajectory control sequentially includes a preset negative torque transition phase with a varying third step size for torque reduction, a preset negative torque reduction phase with a fixed third step size for torque reduction, and a preset negative torque descent phase with a preset second proportional coefficient for torque increase.

[0026] In one embodiment, the preset torque range to be corrected includes a preset negative torque gradual increase range corresponding to a negative torque gradual increase stage, and the step of performing motor anti-vibration control based on the corrected torque range includes:

[0027] Determine the second ramp-up slope of the negative torque ramp-up phase, and control the pre-torque ramp-up to the negative torque ramp-up endpoint value within the negative torque ramp-up range according to the second ramp-up slope;

[0028] When the input fourth required torque value is less than the second threshold, a preset negative torque easing phase is entered, wherein the fourth required torque value includes the torque value input when the pre-torque reaches the negative torque easing endpoint value;

[0029] When the input fourth required torque value is greater than or equal to the second threshold, the preset positive torque gradual increase phase is entered.

[0030] In one embodiment, the motor anti-shake control method further includes:

[0031] The system acquires the input required torque value and the corresponding pre-torque value in real time. When the torque difference between the required torque value and the pre-torque value is greater than a preset torque difference, it enters a preset pursuit torque stage. This pursuit torque stage includes a phase where the pre-torque rises and falls at a fixed slope. The required torque value includes a first required torque value, a second required torque value, a third required torque value, and a fourth required torque value, or...

[0032] The motor speed value is acquired in real time, and when the motor speed value exceeds a preset speed threshold, a preset chasing torque stage is entered, or...

[0033] The system acquires input control commands in real time, and enters a preset pursuit torque stage when the control commands match the preset pursuit torque commands.

[0034] Furthermore, to achieve the above objectives, this application also provides a motor anti-shake control device, the motor anti-shake control device comprising:

[0035] The offset determination module is used to obtain the motor acceleration value based on the motor speed and determine the torque range offset based on the motor acceleration value;

[0036] The anti-shake control module is used to correct the preset torque range to be corrected according to the torque range offset to obtain the corrected torque range, and to perform motor anti-shake control according to the corrected torque range.

[0037] In addition, to achieve the above objectives, this application also provides a motor anti-shake control device, including a processor, a memory, and a motor anti-shake control method program stored in the memory that can be executed by the processor, wherein when the motor anti-shake control method program is executed by the processor, it implements the steps of the motor anti-shake control method as described above.

[0038] This application also provides a storage medium, the storage medium including a computer-readable storage medium, on which a motor anti-shake control method program is stored, wherein when the motor anti-shake control method program is executed by a processor, it implements the steps of the motor anti-shake control method as described above.

[0039] This application provides a motor anti-shake control method. It obtains the motor acceleration value based on the motor speed and determines a torque range offset based on the motor acceleration value. The method then corrects a preset torque range to be corrected based on the torque range offset to obtain a corrected torque range. Finally, it performs motor anti-shake control based on the corrected torque range. This method determines the torque range offset based on the motor acceleration value and then corrects the preset torque range to be corrected based on the torque range offset. Since the torque range to be corrected is based on the motor speed and acceleration, which are strongly correlated with motor vibration under different driving conditions, it avoids the phenomenon of insufficient coverage of driving conditions, thus improving the effectiveness of motor anti-shake control under different driving conditions. Attached Figure Description

[0040] Figure 1 This is a flowchart illustrating the first embodiment of the motor anti-shake control method of this application;

[0041] Figure 2 This is a schematic diagram of an existing motor anti-shake control method;

[0042] Figure 3 This is a schematic diagram of the motor anti-shake control method of this application;

[0043] Figure 4 This is a flowchart illustrating the motor anti-shake control method of this application;

[0044] Figure 5 This is a schematic diagram of the trajectory of the motor anti-shake control method of this application;

[0045] Figure 6 This is a schematic diagram of the motor anti-shake control device of this application;

[0046] Figure 7 This is a schematic diagram of the hardware operating environment involved in the device in this application.

[0047] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0048] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0049] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0050] During Tip In / Out, varying degrees of knocking noise and vibration can occur due to gear clearance. Traditional solutions involve calibrating a torque ramp-up and ramp-down range near the torque zero N (i.e., the maximum and minimum values ​​and slope of the ramp-up and ramp-down are fixed) to reduce the rate of torque change during gear face switching, thereby reducing knocking noise and vibration. However, the actual torque range for gear face switching varies depending on the vehicle's driving conditions. For example, if the minimum value of the ramp-up range changes starting from AN, this change may only apply to scenarios A1 and A2, while knocking noise and vibration still exist in other scenarios. In other words, the traditional solution covers a limited range of driving conditions and cannot meet the needs of diverse driving environments, such as situations where the anti-knock effect decreases and the noise persists during uphill / downhill driving or braking.

[0051] Therefore, based on the shortcomings of the above motor anti-shake control schemes, the motor anti-shake control method of this application is proposed. The solution of this application embodiment is to determine the torque range offset by the motor acceleration value, and then to correct the preset torque range to be corrected based on the torque range offset to obtain the corrected torque range. At this time, the motor speed acceleration, a parameter strongly correlated with motor vibration under different driving conditions, is used to correct the torque range to be corrected, thus avoiding the phenomenon that the coverage of driving conditions is too small and cannot meet the needs of diverse driving environments, thereby improving the effect of motor anti-shake control under different driving conditions.

[0052] It should be noted that the executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or a device capable of performing the above functions, such as a motor anti-shake control device. The following description uses a motor anti-shake control device (which in this embodiment can be a motor controller) as an example to illustrate this embodiment and the subsequent embodiments.

[0053] Based on this, the embodiments of this application provide a motor anti-shake control method, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the motor anti-shake control method of this application.

[0054] Reference Figure 1 This application provides a motor anti-shake control method. In the first embodiment of the motor anti-shake control method, the motor anti-shake control method includes:

[0055] Step S10: Obtain the motor acceleration value based on the motor speed, and determine the torque range offset based on the motor acceleration value;

[0056] For example, due to gear backlash, during the transition from drive to braking (or vice versa), the relative movement of gears causes "slapping" of the gears. Reducing the rate of change of motor torque when gears are in relative motion can reduce the speed of the relative gear movement, thereby reducing the "slapping force" on the gear surfaces. This relative movement of gears is called "gear face-changing." The torque range corresponding to "gear face-changing" is different under different driving conditions, but the torque range of "gear face-changing" is strongly related to the acceleration of the entire vehicle. By obtaining the current motor acceleration value of the entire vehicle through the motor speed, the original torque range of gear face-changing can be corrected in real time through the motor acceleration value, so as to accurately determine the torque point of gear face-changing and cover more driving conditions.

[0057] In this embodiment, to broaden the applicability of motor anti-shake control, the fixed ramp-up and ramp-down ranges are corrected based on the motor speed acceleration, a parameter strongly correlated with motor vibration under different driving conditions. Generally, this involves correcting the maximum and minimum torque values ​​within the ramp-up and ramp-down ranges. For example, the original torque value is corrected from a ramp-up of 1-2 to a ramp-up of 2-3. The basis for this modification is the motor acceleration value under different driving conditions. Because the motor acceleration value is strongly correlated with gear clearance, which can cause varying degrees of knocking noise and vibration, this effectively improves the motor anti-shake control effect under different driving conditions. By obtaining the motor acceleration value based on the motor speed, the torque range offset is determined based on the motor acceleration value. The determination method prioritizes defining a unique offset corresponding to a specific motor speed acceleration within different ranges. For example, within the ramp-down range Q, the torque range offset corresponding to the motor speed acceleration S1 is F11. Here, motor acceleration value refers to the acceleration value of the motor speed, and torque range offset refers to the offset value from the predefined torque range to be corrected. The motor acceleration value can be obtained by extracting the change in speed per unit time, or by directly extracting the motor speed acceleration collected by the motor controller; the method is not limited here. It is worth noting that after obtaining the motor speed acceleration, a first-order low-pass filter can be applied to the motor speed acceleration to filter out noise interference. Then, the preset torque range to be corrected can be corrected based on the motor acceleration value to avoid poor motor anti-shake control under different driving conditions.

[0058] Step S20: Correct the preset torque range to be corrected according to the torque range offset to obtain the corrected torque range, and perform motor anti-vibration control according to the corrected torque range.

[0059] In this embodiment, after determining the torque range offset, the preset torque range to be corrected is adjusted based on the torque range offset to obtain a corrected torque range. Then, the torque is gradually increased and decreased within the corrected torque range to avoid the problem of fixed intervals for torque increase and decrease, which cannot be applied to all driving conditions. This improves the effectiveness of motor anti-shake control under different driving conditions. The preset torque range to be corrected refers to the user-defined intervals for gradual increase and decrease, which can be four: positive torque gradual increase and decrease, and negative torque gradual increase and decrease. The corrected torque range is the torque range to be corrected after shifting based on the torque range offset. The torque range offset is then superimposed on the high and low points of the current torque range to be corrected to obtain the corrected range for each stage. Within this corrected torque range, the torque range is gradually increased or decreased at the original slope to improve the knocking noise and vibration during Tip In / Tip Out. Considering the influence of motor acceleration, the effectiveness of motor anti-shake control under different driving conditions can be improved.

[0060] In one embodiment, reference is made to Figure 2 , Figure 2 This is a schematic diagram of an existing motor anti-shake control method. Taking the positive torque descent range as an example, the position of the positive torque descent range is first calibrated inside the motor controller. When positive torque descent is needed during the entire torque control process, the torque descent is performed through the torque descent range calibrated within the positive torque descent range. In other words, the position of the positive torque descent range is fixed regardless of the operating conditions; that is, the maximum and minimum values ​​of each descent are constant. Even if a descent occurs on a downhill slope or a level road (in which case the internal motor acceleration values ​​are different), the positive torque descent range is still used, thus making it unsuitable for all driving conditions. Therefore, the motor anti-shake control method of this application is proposed, which can be referred to... Figure 3 , Figure 3 This is a schematic diagram of the motor anti-shake control method of this application. The calibrated commutation torque range is determined by the acceleration (motor acceleration value) to determine the torque range offset. Then, based on the torque range offset, the calibrated commutation torque range is moved to other positions. As shown in the figure, the maximum torque value and minimum torque value of the finally determined commutation torque range have changed, thereby improving the effect of motor anti-shake control under different driving conditions (actually manifested as different motor acceleration values).

[0061] In one embodiment, reference is made to Figure 4 , Figure 4This is a flowchart illustrating the motor anti-shake control method of this application. During motor anti-shake control, the motor speed is acquired, and then the acceleration (motor speed acceleration) is extracted based on the change in motor speed per unit time. The original acceleration is then filtered to remove internal noise. Next, the torque range offset is obtained from an internally stored acceleration lookup table. The existing torque range is then corrected based on this torque range offset, where the acceleration lookup table defines the torque range offset corresponding to different acceleration values. Simultaneously, the original gradual rise and fall torque range is preset in the motor controller via software. Based on the torque range offset, the gradual rise and fall torque ranges are dynamically corrected to obtain the corrected torque range. This is then combined with the user-inputted torque to determine the final torque trajectory, which is used as the pre-processed torque output. It is worth noting that the pre-torque refers to the actual output torque. By correcting the original gradual rise and fall torque range using acceleration, gradual rise or fall is achieved, thereby improving the motor anti-shake control effect under different driving conditions.

[0062] In this embodiment, a motor anti-shake control method is provided. This method obtains the motor acceleration value based on the motor speed and determines a torque range offset based on the motor acceleration value. A preset torque range to be corrected is then corrected based on the torque range offset to obtain a corrected torque range. Motor anti-shake control is then performed based on this corrected torque range. This method determines the torque range offset based on the motor acceleration value and then corrects the preset torque range to be corrected based on the torque range offset. Since the torque range to be corrected is based on the motor speed acceleration, a parameter strongly correlated with motor vibration under different driving conditions, this method avoids the phenomenon of insufficient coverage of driving conditions, which fails to meet the needs of diverse driving environments, thereby improving the effectiveness of motor anti-shake control under different driving conditions.

[0063] Furthermore, based on the first embodiment of this application described above, a second embodiment of the motor anti-shake control method of this application is proposed. In this embodiment, step S10, the step of determining the torque range offset based on the motor acceleration value, includes:

[0064] Step S11: Determine the target correction stage corresponding to the motor acceleration value, and determine the target interval correction table corresponding to the target correction stage;

[0065] Step S12: Determine the offset of the motor acceleration value in the target interval correction table as the torque interval offset.

[0066] In this embodiment, when determining the torque range offset, it is based on an internally stored range correction table. This range correction table is a table of offsets corresponding to different motor acceleration values ​​within the gradual increase and decrease ranges. During the target correction stage corresponding to the motor acceleration value—that is, determining whether the current motor acceleration value corresponds to a positive torque increase, positive torque decrease, negative torque increase, or negative torque decrease stage—the target range correction table corresponding to that stage is then determined. This target range correction table refers to the range correction table corresponding to the target correction stage at this time. Finally, the offset corresponding to the motor acceleration value can be determined from the target range correction table as the torque range offset. It is worth noting that determining the target correction stage corresponding to the motor acceleration value can be based on the entire torque control process, as can be referred to... Figure 5 , Figure 5 This is a trajectory diagram of the motor anti-shake control method of this application. The motor acceleration value can be determined based on the actual situation, specifically in which stage (1-12) it is located. For example, after the gradual rise stage 2 is the gradual fall stage 6, so that the target correction stage can be determined to correct the gradual decrease of torque to ensure the accuracy of subsequent gradual rise and fall control.

[0067] Furthermore, based on the first and / or second embodiments of this application described above, a third embodiment of the motor anti-shake control method of this application is proposed. In this embodiment, the preset torque range to be corrected includes the positive torque gradual increase range corresponding to the preset positive torque gradual increase stage. The step of performing motor anti-shake control according to the corrected torque range includes:

[0068] Step S301: When the input first demand torque value is less than the minimum value of the positive torque gradual increase phase, the minimum value of the positive torque gradual increase phase is taken as the first initial value of the positive torque gradual increase interval, wherein the first demand torque value includes the torque value input at the beginning of the positive torque gradual increase interval.

[0069] Step S302: When the input first demand torque value is greater than or equal to the lowest value of the positive torque gradual increase phase, the first demand torque value is used as the first initial value of the positive torque gradual increase range.

[0070] In this embodiment, the preset torque range to be corrected includes the preset positive torque gradual increase range corresponding to the preset positive torque gradual increase stage. The preset positive torque gradual increase stage refers to the stage where the torque is positive and gradually increases, as can be referred to... Figure 5The stages in the diagram are: positive torque preload stage (label 1), positive torque gradual increase stage (label 2), positive torque transition stage (label 3), positive torque increase stage (label 4), and positive torque decrease stage (label 5). When the preset torque range to be corrected corresponds to the preset positive torque gradual increase stage, the initial value of the positive torque gradual increase stage is judged. By determining the relationship between the input first required torque value and the minimum value of the positive torque gradual increase stage, if the input first required torque value is less than the minimum value of the positive torque gradual increase stage, the minimum value of the positive torque gradual increase stage is used as the first initial value of the positive torque gradual increase range; conversely, if the input first required torque value is greater than or equal to the minimum value of the positive torque gradual increase stage, the first required torque value is used as the first initial value of the positive torque gradual increase range. The first required torque value includes the torque value input at the beginning of the positive torque gradual increase range, i.e., ... Figure 3 The lowest point after the mid-range shift is not fixed; it shifts based on the range. The initial time of the shifted range determines the input torque demand value, which becomes the first torque demand value. This means the lowest point torque during the positive torque gradual increase phase does not change to a smaller value but can change to a larger value to ensure the gradual increase effect. The first initial value refers to the minimum torque value within the positive torque gradual increase range, and the change (gradual increase) starts from this minimum torque value. It is worth noting that "stage" refers to... Figure 5 The stages and intervals referred to in 1-13 are... Figure 3 The length of the interval is one of the ranges, meaning that the entire torque control trajectory generally goes through stages 1-13, while only the gradual increase and decrease stages have corresponding intervals. This interval can be adjusted by moving the torque up and down according to the motor speed and acceleration to change the maximum and minimum torque of this stage, thereby adapting to vibration control under different driving conditions.

[0071] Step S303: Determine the first gradual increase slope of the positive torque gradual increase phase, and based on the first gradual increase slope within the positive torque gradual increase range, control the pre-torque to gradually increase from the first initial value to the positive torque gradual increase endpoint value.

[0072] Step S304: After the pre-torque reaches the positive torque gradual increase endpoint value, positive torque trajectory control is performed based on the positive torque gradual increase endpoint value, and a preset positive torque gradual decrease stage is entered. The positive torque trajectory control includes, in sequence, a preset positive torque transition stage in which torque is increased with a varying first step length, a preset positive torque increase stage in which torque is increased with a fixed second step length, and a preset positive torque decrease stage in which torque is decreased with a preset first proportional coefficient.

[0073] In this embodiment, after determining the positive torque gradual increase range and the first initial value, the pre-torque is controlled to gradually increase to the positive torque gradual increase endpoint value within the positive torque gradual increase range based on the first gradual increase slope and the first initial value. That is, in stage 2, the pre-torque slowly increases from the first initial value to the positive torque gradual increase endpoint value according to a fixed slope (first gradual increase slope). The positive torque gradual increase endpoint value refers to the maximum torque value reached in stage 2. It is worth noting that the positive torque gradual increase endpoint value can be the initial maximum value, i.e., the maximum value of the positive torque gradual increase range itself. In this case, the entire positive torque gradual increase range will increase with a smaller increase slope, and subsequent stages 3 and 4 can be controlled according to the original trajectory. Alternatively, it can be the maximum increase value within the positive torque gradual increase range according to the gradual increase slope and the first initial value, and processing is based on the maximum increase value. That is, positive torque trajectory control is performed based on the positive torque gradual increase endpoint value, and the system enters a preset positive torque gradual decrease phase. The preset positive torque gradual decrease phase is... Figure 5 The system consists of six stages. After reaching the final value of the positive torque gradual increase, it enters a preset positive torque transition stage (stage 3) based on a varying first step length for torque increase. Once stage 3 reaches the set stage value, it enters a preset positive torque increase stage (stage 4) with a fixed second step length for torque increase. At maximum torque, it follows the required torque according to the current torque step length (i.e., the parallel portion of stage 4). If the required torque decreases during this period, it enters a preset positive torque decrease stage (stage 5) with a preset first proportional coefficient for torque reduction, thus completing the entire positive torque trajectory control. It is worth noting that the stage set value, first step length, second step length, maximum torque, and first proportional coefficient defined here can all be customized according to actual conditions and are not limited here.

[0074] In one embodiment, the preset torque range to be corrected includes a preset positive torque descent range corresponding to a positive torque descent phase. The step of performing motor anti-vibration control based on the corrected torque range includes:

[0075] Step S311: Determine the first descent slope of the positive torque descent phase, and control the pre-torque descent to the positive torque descent endpoint value within the positive torque descent range according to the first descent slope.

[0076] Step S312: When the input second required torque value is less than the first threshold, enter the preset negative torque descent stage, wherein the second required torque value includes the torque value input when the pre-torque reaches the positive torque descent endpoint value.

[0077] Step S313: When the input second required torque value is greater than or equal to the first threshold, enter the preset positive torque gradual increase stage.

[0078] In this embodiment, the preset torque range to be corrected includes the preset positive torque descent range corresponding to the positive torque descent stage, that is... Figure 5 In the positive torque descent phase (labeled 6), the pre-torque is controlled to gradually decrease to the positive torque descent endpoint value within the positive torque descent range according to the first descent slope. The first descent slope refers to the descent slope of the positive torque descent phase, and the positive torque descent endpoint value refers to the lowest point of descent within the positive torque descent range. At this point, a judgment is made based on the second required torque value to determine whether to enter the preset negative torque descent phase (labeled 8) or the preset positive torque descent phase (labeled 2). If the input second required torque value is less than the first threshold, the preset negative torque descent phase is entered. The second required torque value includes the torque value input when the pre-torque reaches the positive torque descent endpoint value. If the input second required torque value is greater than or equal to the first threshold, the preset positive torque descent phase is entered. The first threshold can be 0. If the brake pedal is continuously pressed, the system will enter a preset negative torque reduction phase. When the user presses the brake pedal and then presses the accelerator pedal again, the system will enter a preset positive torque increase phase. This ensures the accuracy of subsequent control. In other words, by determining which phase is entered, the corresponding torque range offset is selected to correct the corresponding range.

[0079] Furthermore, based on the first, second, and / or third embodiments of this application described above, a fourth embodiment of the motor anti-shake control method of this application is proposed. In this embodiment, the preset torque range to be corrected includes the negative torque descent range corresponding to the preset negative torque descent stage. The step of performing motor anti-shake control according to the corrected torque range includes:

[0080] Step a: When the input third demand torque value is greater than the highest value of the negative torque descent phase, the highest value of the negative torque descent phase is used as the second initial value of the negative torque descent interval. The third demand torque value includes the torque value input at the beginning of the negative torque descent interval.

[0081] Step b: When the input third demand torque value is less than or equal to the highest value of the negative torque descent phase, the third demand torque value is used as the second initial value of the negative torque descent range.

[0082] In this embodiment, the preset torque range to be corrected includes the negative torque easing range corresponding to the preset negative torque easing stage. The preset negative torque easing stage refers to the stage where the torque is negative and easing gradually, which can be referred to as... Figure 5The stages in the figure are the negative torque preload stage (label 7), the negative torque gradual reduction stage (label 8), the negative torque transition stage (label 9), the negative torque reduction stage (label 10), and the negative torque increase stage (label 11). When the preset torque range to be corrected is the same as the preset negative torque descent phase, the initial value of the negative torque descent phase is judged. By determining the relationship between the input third required torque value and the highest value of the negative torque descent phase, if the input third required torque value is greater than (or greater than the lowest value of the negative torque descent phase) the highest value of the negative torque descent phase is used as the second initial value of the negative torque descent phase. Conversely, if the input third required torque value is less than or equal to the highest value of the negative torque descent phase, the third required torque value is used as the second initial value of the negative torque descent phase. The third required torque value includes the torque value input during the negative torque descent phase, meaning that the torque at the highest point of the negative torque descent phase does not change to a larger value but can change to a smaller value to ensure the descent effect. The second initial value refers to the maximum torque value of the negative torque descent phase, and the descent starts from this maximum torque value.

[0083] Step c: Determine the second descent slope of the negative torque descent phase, and based on the second descent slope within the negative torque descent range, control the pre-torque to gradually decrease from the second initial value to the negative torque descent endpoint value.

[0084] Step d: After the pre-torque reaches the negative torque descent endpoint value, negative torque trajectory control is performed based on the negative torque descent endpoint value, and a preset negative torque descent phase is entered. The negative torque trajectory control includes, in sequence, a preset negative torque transition phase with a varying third step length for torque reduction, a preset negative torque reduction phase with a fixed third step length for torque reduction, and a preset negative torque increase phase with a preset second proportional coefficient for torque increase.

[0085] In this embodiment, after determining the negative torque descent range and the second initial value, the pre-torque is controlled to gradually increase to the negative torque descent endpoint value within the negative torque descent range based on the second descent slope and the second initial value of the negative torque descent phase. That is, in stage 8, the pre-torque slowly decreases from the second initial value to the negative torque descent endpoint value according to a fixed slope (the second descent slope). The negative torque descent endpoint value refers to the minimum torque value reached in stage 8. It is worth noting that the negative torque descent endpoint value can be the initial minimum value, i.e., the minimum value of the negative torque descent phase itself. In this case, the entire negative torque descent range will decrease with a smaller descent slope, and subsequent stages 9 and 10 can be controlled according to the original trajectory. Alternatively, it can be the minimum value of the decrease within the negative torque descent range based on the descent slope and the second initial value, and processing is based on this minimum value. In other words, negative torque trajectory control is performed based on the negative torque descent endpoint value, and the system enters a preset negative torque descent phase. The preset negative torque descent phase is... Figure 5 The system comprises 12 stages. After reaching the negative torque descent endpoint, it enters a preset negative torque transition stage (stage 9) with a varying third step size for torque reduction. Upon reaching the set stage value in stage 9, it enters a preset negative torque reduction stage (stage 10) with a fixed fourth step size for torque reduction. At its minimum torque, it follows the required torque according to the current torque step size (i.e., the parallel portion of stage 10). If the required torque increases during this period, it enters a preset negative torque increase stage (stage 11) with a preset second proportional coefficient for torque increase, thus completing the entire negative torque trajectory control. It is worth noting that the stage set value, third step size, fourth step size, maximum torque, and second proportional coefficient defined here can all be customized according to actual conditions and are not limited here.

[0086] In one embodiment, the preset torque range to be corrected includes a preset negative torque gradual increase range corresponding to a negative torque gradual increase stage. The step of performing motor anti-vibration control based on the corrected torque range includes:

[0087] Step e: Determine the second ramp-up slope of the negative torque ramp-up phase, and control the pre-torque ramp-up to the negative torque ramp-up endpoint value within the negative torque ramp-up range based on the second ramp-up slope;

[0088] Step f: When the input fourth required torque value is less than the second threshold, a preset negative torque easing stage is entered, wherein the fourth required torque value includes the torque value input when the pre-torque reaches the negative torque easing endpoint value.

[0089] Step g: When the input fourth required torque value is greater than or equal to the second threshold, the preset positive torque gradual increase stage is entered.

[0090] In this embodiment, the preset torque range to be corrected includes the preset negative torque gradual increase range corresponding to the negative torque gradual increase stage, that is... Figure 5 In the negative torque gradual increase phase (labeled 12), the pre-torque is controlled to gradually increase according to the second gradual increase slope to the negative torque gradual increase endpoint value within the negative torque gradual increase range. The second gradual decrease slope refers to the gradual increase slope of the negative torque gradual increase phase, and the negative torque gradual increase endpoint value refers to the highest point of descent within the negative torque gradual increase range. At this point, a judgment is made based on the fourth required torque value to determine whether to enter the preset negative torque gradual decrease phase (labeled 8) or the preset positive torque gradual increase phase (labeled 2). If the input fourth required torque value is less than the first threshold, the preset negative torque gradual decrease phase is entered. The fourth required torque value includes the torque value input when the pre-torque reaches the negative torque gradual increase endpoint value. If the input fourth required torque value is greater than or equal to the first threshold, the preset positive torque gradual increase phase is entered. The first threshold can be 0. If there is a situation where the user continuously presses the brake and then briefly presses the accelerator before pressing the brake again, the system will enter a preset negative torque reduction phase. If the user presses and releases the brake and then continuously presses the accelerator, the system will enter a preset positive torque increase phase. This is to ensure the accuracy of subsequent control. That is, by determining which phase is entered, the corresponding torque range offset is selected to correct the corresponding range.

[0091] Furthermore, based on the first, second, and / or third embodiments of this application described above, a fourth embodiment of the motor anti-shake control method of this application is proposed. In this embodiment, the motor anti-shake control method further includes:

[0092] Step S30: The input required torque value and the corresponding pre-torque value are acquired in real time. When the torque difference between the required torque value and the pre-torque value is greater than a preset torque difference, a preset pursuit torque stage is entered. The pursuit torque stage includes a phase where the pre-torque rises and falls at a fixed slope. The required torque value includes a first required torque value, a second required torque value, a third required torque value, and a fourth required torque value, or...

[0093] Step S40: Obtain the motor speed value in real time, and when the motor speed value exceeds a preset speed threshold, enter the preset pursuit torque stage, or...

[0094] Step S50: Acquire the input control command in real time, and enter the preset pursuit torque stage when the control command matches the preset pursuit torque command.

[0095] In this embodiment, in addition to implementing the above torque control logic, this process also adds a rapid torque catch-up function. Under certain conditions, it rapidly catches up with the required torque, thereby covering more driving conditions, improving the overall vehicle drivability, and further reducing vibrations and abnormal noises caused by gear knocking. These certain conditions can be at least: the torque difference between the required torque value and the pre-torque value is greater than a preset torque difference; the motor speed value is greater than a preset speed threshold; and the control command matches a preset torque catch-up command. Here, the required torque value refers to the input torque value, which can be the first to fourth required torque values ​​mentioned above; the pre-torque value refers to the actual torque value determined based on the required torque; the preset torque difference refers to the maximum difference between the two defined by the user; the motor speed value refers to the motor speed; the preset speed threshold refers to the speed set by the user for when rapid torque catch-up is needed; the control command refers to the input control command; and the torque catch-up command refers to the defined command for rapid torque catch-up. When the above conditions are met, the control enters the preset torque catch-up stage (i.e.,...). Figure 5 (13) to quickly catch up with the required torque, thereby covering more driving conditions and improving the overall drivability of the vehicle.

[0096] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the motor anti-shake control method of this application. Any simple modifications based on this technical concept are within the protection scope of this application.

[0097] This application also provides a motor anti-vibration control device, please refer to... Figure 6 The motor anti-vibration control device includes:

[0098] The offset determination module A10 is used to obtain the motor acceleration value based on the motor speed and determine the torque range offset based on the motor acceleration value;

[0099] The anti-shake control module A20 is used to correct the preset torque range to be corrected according to the torque range offset to obtain the corrected torque range, and to perform motor anti-shake control according to the corrected torque range.

[0100] The motor anti-shake control device provided in this application, employing the motor anti-shake control method in the above embodiments, can solve the technical problem of high cost in motor anti-shake control. Compared with the prior art, the beneficial effects of the motor anti-shake control device provided in this application are the same as those of the motor anti-shake control method provided in the above embodiments, and other technical features in the motor anti-shake control device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0101] This application provides a motor anti-shake control device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the motor anti-shake control method in the above embodiment 1.

[0102] The following is for reference. Figure 7 The diagram illustrates a structural schematic suitable for implementing the motor anti-shake control device of the embodiments of this application. The motor anti-shake control device in the embodiments of this application may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 7 The motor anti-shake control device shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0103] like Figure 7As shown, the motor anti-shake control device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the motor anti-shake control device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following devices can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. Communication device 1009 allows the motor anti-shake control device to communicate wirelessly or wiredly with other devices to exchange data. Although the figure shows a motor anti-shake control device with various devices, it should be understood that implementation or possession of all shown devices is not required. More or fewer devices may be implemented alternatively.

[0104] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0105] The motor anti-shake control device provided in this application, employing the motor anti-shake control method in the above embodiments, can solve the technical problem of high cost in motor anti-shake control. Compared with the prior art, the beneficial effects of the motor anti-shake control device provided in this application are the same as those of the motor anti-shake control method provided in the above embodiments, and other technical features of this motor anti-shake control device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0106] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0107] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0108] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the motor anti-shake control method in the above embodiments.

[0109] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor devices, apparatuses, or components, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution apparatus, device, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0110] The aforementioned computer-readable storage medium may be included in the motor anti-vibration control device; or it may exist independently and not assembled into the motor anti-vibration control device.

[0111] The aforementioned computer-readable storage medium carries one or more programs that, when executed by the motor anti-shake control device, cause the motor anti-shake control device to:

[0112] The motor acceleration value is obtained based on the motor speed, and the torque range offset is determined based on the motor acceleration value;

[0113] The preset torque range to be corrected is corrected according to the torque range offset to obtain the corrected torque range, and motor anti-vibration control is performed according to the corrected torque range.

[0114] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0115] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using dedicated hardware-based apparatus to perform the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0116] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0117] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described motor anti-shake control method, thereby solving the technical problem of high cost in motor anti-shake control. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the motor anti-shake control method provided in the above embodiments, and will not be repeated here.

[0118] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the motor anti-shake control method described above.

[0119] The computer program product provided in this application can solve the technical problem of high cost in motor anti-shake control. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the motor anti-shake control method provided in the above embodiments, and will not be repeated here.

[0120] This application provides a vehicle. The vehicle includes at least a motor anti-shake control device (which may be a motor controller), a motor, and wheels. The motor is communicatively connected to the motor anti-shake control device and mechanically connected to the wheels. The motor anti-shake control device stores a motor anti-shake control program, and when the motor anti-shake control device executes the motor anti-shake control program, it implements the steps of the above-described motor anti-shake control method.

[0121] The specific implementation of the vehicle of the present invention is basically the same as the embodiments of the above-described motor anti-shake control method. The motor anti-shake control method, device, equipment and storage medium can be further refined into a motor anti-shake control method, device, equipment, storage medium and vehicle. The vehicle includes the above-described motor anti-shake control device and / or motor anti-shake control equipment, which will not be described again here.

[0122] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A method for motor anti-vibration control, characterized in that, The motor anti-vibration control method includes: The motor acceleration value is obtained based on the motor speed, and the torque range offset is determined based on the motor acceleration value; The preset torque range to be corrected is corrected according to the torque range offset to obtain the corrected torque range, and motor anti-vibration control is performed according to the corrected torque range.

2. The motor anti-vibration control method as described in claim 1, characterized in that, The step of determining the torque range offset based on the motor acceleration value includes: Determine the target correction stage corresponding to the motor acceleration value, and determine the target interval correction table corresponding to the target correction stage; The offset of the motor acceleration value corresponding to the target interval correction table is determined as the torque interval offset.

3. The motor anti-vibration control method as described in claim 1, characterized in that, The preset torque range to be corrected includes a preset positive torque gradual increase range corresponding to a positive torque gradual increase stage. The step of performing motor anti-vibration control based on the corrected torque range includes: When the input first required torque value is less than the minimum value of the positive torque gradual increase phase, the minimum value of the positive torque gradual increase phase is taken as the first initial value of the positive torque gradual increase interval, wherein the first required torque value includes the torque value input at the beginning of the positive torque gradual increase interval; When the input first required torque value is greater than or equal to the lowest value of the positive torque gradual increase phase, the first required torque value is used as the first initial value of the positive torque gradual increase range. Determine the first ramp-up slope of the positive torque ramp-up phase, and based on the first ramp-up slope within the positive torque ramp-up range, control the pre-torque to ramp-up from the first initial value to the positive torque ramp-up endpoint value. After the pre-torque reaches the positive torque gradual increase endpoint value, positive torque trajectory control is performed based on the positive torque gradual increase endpoint value, and a preset positive torque gradual decrease phase is entered. The positive torque trajectory control sequentially includes a preset positive torque transition phase with a varying first step length for increasing torque, a preset positive torque increase phase with a fixed second step length for increasing torque, and a preset positive torque decrease phase with a preset first proportional coefficient for decreasing torque.

4. The motor anti-vibration control method as described in claim 1, characterized in that, The preset torque range to be corrected includes a preset positive torque descent range corresponding to a positive torque descent phase. The step of performing motor anti-vibration control based on the corrected torque range includes: Determine the first descent slope of the positive torque descent phase, and control the pre-torque descent to the positive torque descent endpoint value within the positive torque descent range based on the first descent slope; When the input second required torque value is less than the first threshold, a preset negative torque descent phase is entered, wherein the second required torque value includes the torque value input when the pre-torque reaches the positive torque descent endpoint value; When the input second required torque value is greater than or equal to the first threshold, the preset positive torque gradual increase phase is entered.

5. The motor anti-vibration control method as described in claim 1, characterized in that, The preset torque range to be corrected includes a preset negative torque descent range corresponding to a negative torque descent phase. The step of performing motor anti-vibration control based on the corrected torque range includes: When the input third demand torque value is greater than the highest value of the negative torque descent phase, the highest value of the negative torque descent phase is used as the second initial value of the negative torque descent interval, wherein the third demand torque value includes the torque value input at the beginning of the negative torque descent interval; When the input third demand torque value is less than or equal to the highest value of the negative torque descent phase, the third demand torque value is used as the second initial value of the negative torque descent range. Determine the second descent slope of the negative torque descent phase, and based on the second descent slope within the negative torque descent range, control the pre-torque to gradually decrease from the second initial value to the negative torque descent endpoint value; After the pre-torque reaches the negative torque descent endpoint value, negative torque trajectory control is performed based on the negative torque descent endpoint value, and a preset negative torque descent phase is entered. The negative torque trajectory control sequentially includes a preset negative torque transition phase with a varying third step size for torque reduction, a preset negative torque reduction phase with a fixed third step size for torque reduction, and a preset negative torque descent phase with a preset second proportional coefficient for torque increase.

6. The motor anti-vibration control method as described in claim 1, characterized in that, The preset torque range to be corrected includes a preset negative torque gradual increase range corresponding to a negative torque gradual increase stage. The step of performing motor anti-vibration control based on the corrected torque range includes: Determine the second ramp-up slope of the negative torque ramp-up phase, and control the pre-torque ramp-up to the negative torque ramp-up endpoint value within the negative torque ramp-up range according to the second ramp-up slope; When the input fourth required torque value is less than the second threshold, a preset negative torque easing phase is entered, wherein the fourth required torque value includes the torque value input when the pre-torque reaches the negative torque easing endpoint value; When the input fourth required torque value is greater than or equal to the second threshold, the preset positive torque gradual increase phase is entered.

7. The motor anti-vibration control method according to any one of claims 1 to 6, characterized in that, The motor anti-vibration control method further includes: The system acquires the input required torque value and the corresponding pre-torque value in real time. When the torque difference between the required torque value and the pre-torque value is greater than a preset torque difference, it enters a preset pursuit torque stage. This pursuit torque stage includes a phase where the pre-torque rises and falls at a fixed slope. The required torque value includes a first required torque value, a second required torque value, a third required torque value, and a fourth required torque value, or... The motor speed value is acquired in real time, and when the motor speed value exceeds a preset speed threshold, a preset chasing torque stage is entered, or... The system acquires input control commands in real time, and enters a preset pursuit torque stage when the control commands match the preset pursuit torque commands.

8. A motor anti-vibration control device, characterized in that, The motor anti-vibration control device includes: The offset determination module is used to obtain the motor acceleration value based on the motor speed and determine the torque range offset based on the motor acceleration value; The anti-shake control module is used to correct the preset torque range to be corrected according to the torque range offset to obtain the corrected torque range, and to perform motor anti-shake control according to the corrected torque range.

9. A motor anti-vibration control device, characterized in that, The motor anti-shake control device includes a processor, a memory, and a motor anti-shake control method program stored in the memory that can be executed by the processor, wherein when the motor anti-shake control method program is executed by the processor, it implements the steps of the motor anti-shake control method as described in any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium includes a computer-readable storage medium storing a motor anti-shake control method program, wherein when the motor anti-shake control method program is executed by a processor, it implements the steps of the motor anti-shake control method as described in any one of claims 1 to 7.

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