METHOD AND APPARATUS FOR SUPPRESSING VEHICLE VIBRATION DURING BATTERY SELF-HEATING PROCESS, AND VEHICLE

Abstract

A method and apparatus for suppressing vehicle vibration during a battery self-heating process, and a vehicle, the method includes: controlling a power battery pack (E) to output a drive current to a first motor (M1) to drive the first motor to rotate; dragging and rotating a second motor (M2) when the first motor rotates; controlling the power battery pack to output a self-heating current to the second motor to perform self-heating of the power battery; obtaining a real-time rotation speed of the first motor; and controlling a fundamental frequency of the self-heating current according to the real-time rotation speed so that the fundamental frequency and the real-time rotation speed form staggered peaks.

Description

[Technical Field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This disclosure claims priority to Chinese Patent Application No. 202210992723.9, filed on August 18, 2022, which is incorporated herein by reference in its entirety.

[0002] The present disclosure relates to the field of battery technology, and in particular to a method and apparatus for suppressing vehicle vibration during battery self-heating, and a vehicle.

[0003] Background technology With the widespread use of new energy sources, batteries are now often used as power sources in the vehicle field. Battery performance is affected by various environments in which the battery is used as a power source. In low-temperature environments, when an electric vehicle is driven and traveling, the battery pack is affected by the low-temperature environment, and the activity of the active materials in the battery pack is significantly reduced. The internal resistance of the battery pack also increases as the temperature decreases. Therefore, the mileage of the electric vehicle is significantly reduced in low-temperature environments. To ensure that the activity in the battery pack is not affected by the low-temperature environment, it is necessary to heat the battery pack to increase the body temperature of the battery pack.

[0004] Currently, battery packs are mostly heated externally, such as, but not limited to, wind heating or water heating, which results in high manufacturing costs for the battery pack heating device and relatively poor heating effect, and causes the battery pack to consume a relatively large amount of electricity during heating operation.

[0005] Alternatively, in the prior art, there is a solution in which alternating pulse charging and discharging is performed between the motor and the battery to self-heat the battery by using the battery's internal resistor. Compared to external heating, this solution has a higher heating efficiency.

[0006] Alternatively, in an electric vehicle equipped with multiple motors, some motors may be used for traction, while others may be used to self-heat the battery. In this case, the battery may self-heat while driving. However, the inventors have discovered that such a self-heating method causes jitter in the motor used for self-heating, thereby causing the entire vehicle to vibrate with a strong vibration sensation. This not only creates a poor driving experience for passengers, but also shortens the lifespan of the motors. Currently, the direct cause of the motor jitter has not been identified, let alone how to solve the problem. Summary of the Invention [Means for solving the problem]

[0007] In view of the aforementioned problems, the present disclosure is proposed to provide a method and apparatus for suppressing vehicle vibration during battery self-heating, and a vehicle, to overcome the aforementioned problems or to solve at least some of the aforementioned problems.

[0008] According to a first aspect, an embodiment of the present disclosure provides a method for suppressing vehicle vibration during battery self-heating, the method being applied to a vehicle including a power battery pack, a first motor, and a second motor, the method comprising: controlling the power battery pack to output a driving current to the first motor to drive and rotate the first motor, wherein when the first motor is rotating, the second motor is dragged and rotated; controlling the power battery pack to output a self-heating current to the second motor to cause the power battery to self-heat; Obtaining a real-time rotation speed of the first motor; The fundamental frequency of the self-heating current is controlled based on the real-time rotation speed so as to stagger the fundamental frequency and the real-time rotation speed. Includes.

[0009] In some embodiments, controlling the fundamental frequency of self-heating based on the real-time rotation speed so as to stagger the fundamental frequency and the real-time rotation speed includes: When the real-time rotation speed is within a first rotation speed interval, the fundamental frequency is controlled to be a first frequency; When the real-time rotation speed is within a second rotation speed interval, controlling the fundamental frequency to be a second frequency, where any rotation speed in the second rotation speed interval is greater than any rotation speed in the first rotation speed interval, and the second frequency is smaller than the first frequency; Includes.

[0010] In some embodiments, controlling the fundamental frequency of self-heating based on the real-time rotation speed so as to stagger the fundamental frequency and the real-time rotation speed includes: Controlling the fundamental frequency based on the real-time rotation speed and a real-time condition such that the fundamental frequency and the real-time rotation speed are staggered, the real-time condition including an acceleration condition or a deceleration condition. Includes.

[0011] In some embodiments, controlling the fundamental frequency based on the real-time rotation speed and the real-time condition so as to stagger the fundamental frequency and the real-time rotation speed includes: determining an expected rotation speed based on the degree of depression of the accelerator pedal under acceleration conditions or the degree of depression of the decelerator pedal under deceleration conditions, the expected rotation speed indicating the rotation speed of the motor corresponding to the vehicle speed that the driver expects to achieve; Controlling the self-heating current value and the fundamental frequency based on a value relationship between the expected rotation speed and a plurality of preset rotation speeds, and a value relationship between the real-time rotation speed and a plurality of preset rotation speeds, in combination with real-time conditions; Includes.

[0012] In some embodiments, the plurality of preset rotational speeds includes a first preset rotational speed and a second preset rotational speed; Controlling the self-heating current value and the fundamental frequency based on a value relationship between the expected rotation speed and the plurality of preset rotation speeds and a value relationship between the real-time rotation speed and the plurality of preset rotation speeds in combination with real-time conditions When the expected rotation speed is equal to or lower than a second preset rotation speed, in the process of increasing the real-time rotation speed to the expected rotation speed under an accelerating condition, controlling the self-heating current value to be a first current value and controlling the fundamental frequency to be a first frequency; or When the expected rotation speed is greater than a second preset rotation speed, in a process in which the real-time rotation speed increases to a rotation speed smaller than the first preset rotation speed under an acceleration condition, the self-heating current value is controlled to be a first current value, and the fundamental frequency is controlled to be a first frequency; In the process of increasing the real-time rotation speed from a first preset rotation speed to an expected rotation speed, controlling the self-heating current value to decrease from a first current value to a second current value, and controlling the fundamental frequency to decrease from the first frequency to a second frequency, where the second current value is close to or equal to 0; Includes.

[0013] In some embodiments, after controlling the self-heating current value to decrease from a first current value to a second current value and controlling the fundamental frequency to decrease from a first frequency to a second frequency, the method further comprises: determining whether a stable signal is received, the stable signal indicating that the second motor does not generate torque pulse ripple that oscillates back and forth; When a stable signal is received, controlling the self-heating current value to increase from the second current value to the first current value and maintaining the fundamental frequency at the second frequency; or When a stable signal is not received, the self-heating current value is maintained at a second current value and the fundamental frequency is maintained at a second frequency; after a stable signal is received, the self-heating current value is controlled to increase from the second current value to the first current value and the fundamental frequency is maintained at a second frequency. Further includes:

[0014] In some embodiments, the plurality of preset rotational speeds includes a first preset rotational speed and a second preset rotational speed; Controlling the self-heating current value and the fundamental frequency based on a value relationship between the expected rotation speed and the plurality of preset rotation speeds and a value relationship between the real-time rotation speed and the plurality of preset rotation speeds in combination with real-time conditions When the expected rotation speed is greater than a second preset rotation speed, in the process of the real-time rotation speed decreasing to the expected rotation speed under deceleration conditions, controlling the self-heating current value to be a first current value and controlling the fundamental frequency to be a second frequency; or When the expected rotation speed is equal to or less than a second preset rotation speed, after the real-time rotation speed becomes smaller than the second preset rotation speed under a deceleration condition, control the self-heating current value to decrease from the first current value to a second current value, and control the fundamental frequency to increase from the second frequency to the first frequency, where the second current value is close to or equal to 0. Includes.

[0015] In some embodiments, after controlling the self-heating current value to decrease from a first current value to a second current value and controlling the fundamental frequency to increase from the second frequency to the first frequency, the method further comprises: determining whether a stable signal is received, the stable signal indicating that the second motor does not generate torque pulse ripple that oscillates back and forth; When a stable signal is received, controlling the self-heating current value to increase from the second current value to the first current value and maintaining the fundamental frequency at the first frequency; or When a stable signal is not received, the self-heating current value is maintained at a second current value and the fundamental frequency is maintained at a first frequency; after a stable signal is received, the self-heating current value is controlled to increase from the second current value to the first current value and the fundamental frequency is maintained at the first frequency. Further includes:

[0016] In some embodiments, the first preset rotational speed value and the second preset rotational speed value are determined by the first frequency, the second frequency, and the number of pole pairs of the motor.

[0017] In some embodiments, the first motor is a synchronous motor or an asynchronous motor, and the second motor is an asynchronous motor.

[0018] According to a second aspect, an embodiment of the present disclosure further provides another method for suppressing vehicle vibration during battery self-heating, the method being applied to a vehicle including a power battery pack, a first motor, and a second motor, the method comprising: controlling the power battery pack to output a driving current to the first motor to drive and rotate the first motor, wherein when the first motor is rotating, the second motor is dragged and rotated; controlling the power battery pack to output a self-heating current to the second motor to cause the power battery to self-heat; Obtaining a fundamental frequency of a drive current of a first motor; controlling the fundamental frequency of the self-heating current based on the fundamental frequency of the drive current such that the fundamental frequency of the self-heating current and the fundamental frequency of the drive current are staggered; Includes.

[0019] In some embodiments, controlling the fundamental frequency of the self-heating current based on the fundamental frequency of the drive current so as to stagger the fundamental frequency of the self-heating current and the fundamental frequency of the drive current includes: When the fundamental frequency of the drive current is within a first frequency interval, controlling the fundamental frequency of the self-heating current to be the first frequency; When the fundamental frequency of the drive current is within a second frequency interval, controlling the fundamental frequency of the self-heating current to be a second frequency, where any frequency in the second frequency interval is greater than any frequency in the first frequency interval and the second frequency is less than the first frequency; Includes.

[0020] In some embodiments, controlling the fundamental frequency of the self-heating current based on the fundamental frequency of the drive current so as to stagger the fundamental frequency of the self-heating current and the fundamental frequency of the drive current includes: Controlling the fundamental frequency of the self-heating current based on the fundamental frequency of the drive current and a real-time condition such that the fundamental frequency of the self-heating current and the fundamental frequency of the drive current are staggered, the real-time condition including an acceleration condition or a deceleration condition. Includes.

[0021] In some embodiments, controlling the fundamental frequency of the self-heating current based on the fundamental frequency of the drive current and real-time conditions to stagger the fundamental frequency of the self-heating current and the fundamental frequency of the drive current includes: determining an expected rotation speed based on the degree of depression of the accelerator pedal under acceleration conditions or the degree of depression of the decelerator pedal under deceleration conditions, the expected rotation speed indicating the rotation speed of the motor corresponding to the vehicle speed that the driver expects to achieve; determining an expected frequency corresponding to the expected rotation speed according to the expected rotation speed; Controlling the self-heating current value and the fundamental frequency of the self-heating current based on a value relationship between the expected frequency and the plurality of preset frequencies and a value relationship between the fundamental frequency of the drive current and the plurality of preset frequencies in combination with real-time conditions; Includes.

[0022] In some embodiments, the plurality of preset frequencies includes a first preset frequency and a second preset frequency; Controlling the self-heating current value and the fundamental frequency of the self-heating current based on a value relationship between the expected frequency and the plurality of preset frequencies and a value relationship between the fundamental frequency of the drive current and the plurality of preset frequencies in combination with a real-time condition, When the expected frequency is equal to or less than a second preset frequency, in the process of increasing the fundamental frequency of the driving current to the expected frequency under an accelerating condition, controlling the self-heating current value to be a first current value and controlling the fundamental frequency of the self-heating current to be the first frequency; or When the expected frequency is greater than the second preset frequency, in the process of increasing the fundamental frequency of the driving current to a frequency less than the first preset frequency under an acceleration condition, controlling the self-heating current value to be a first current value, and controlling the fundamental frequency of the self-heating current to be the first frequency; In the process of increasing the fundamental frequency of the driving current from a first preset frequency to an expected frequency, controlling the self-heating current value to decrease from a first current value to a second current value, and controlling the fundamental frequency of the self-heating current to decrease from the first frequency to a second frequency, where the second current value is close to or equal to 0; Includes.

[0023] In some embodiments, after controlling the self-heating current value to decrease from a first current value to a second current value and controlling the fundamental frequency of the self-heating current to decrease from a first frequency to a second frequency, the method further comprises: determining whether a stable signal is received, the stable signal indicating that the second motor does not generate torque pulse ripple that oscillates back and forth; When a stable signal is received, controlling the self-heating current value to increase from the second current value to the first current value, and maintaining the fundamental frequency of the self-heating current at the second frequency; or When a stable signal is not received, the self-heating current value is maintained at a second current value, and the fundamental frequency of the self-heating current is maintained at a second frequency; after a stable signal is received, the self-heating current value is controlled to increase from the second current value to the first current value, and the fundamental frequency of the self-heating current is maintained at the second frequency. Further includes:

[0024] In some embodiments, the plurality of preset frequencies includes a first preset frequency and a second preset frequency; Controlling the self-heating current value and the fundamental frequency of the self-heating current based on a value relationship between the expected frequency and the plurality of preset frequencies and a value relationship between the fundamental frequency of the drive current and the plurality of preset frequencies in combination with a real-time condition, When the expected frequency is greater than a second preset frequency, in the process of the fundamental frequency of the driving current decreasing to the expected frequency under deceleration conditions, controlling the self-heating current value to be a first current value and controlling the fundamental frequency of the self-heating current to be a second frequency; or When the expected frequency is equal to or less than a second preset frequency, after the fundamental frequency of the driving current becomes smaller than the second preset frequency under a deceleration condition, controlling the self-heating current value to decrease from a first current value to a second current value, and controlling the fundamental frequency of the self-heating current to increase from the second frequency to the first frequency, where the second current value is close to or equal to 0. Includes.

[0025] In some embodiments, after controlling the self-heating current value to decrease from a first current value to a second current value and controlling the fundamental frequency of the self-heating current to increase from the second frequency to the first frequency, the method further comprises: determining whether a stable signal is received, the stable signal indicating that the second motor does not generate torque pulse ripple that oscillates back and forth; When a stable signal is received, controlling the self-heating current value to increase from the second current value to the first current value, and maintaining the fundamental frequency of the self-heating current at the first frequency; or When a stable signal is not received, the self-heating current value is maintained at a second current value and the fundamental frequency of the self-heating current is maintained at a first frequency; after a stable signal is received, the self-heating current value is controlled to increase from the second current value to the first current value and the fundamental frequency of the self-heating current is maintained at the first frequency; Further includes:

[0026] According to a third aspect, an embodiment of the present disclosure provides an apparatus for suppressing vehicle vibration during self-heating of a battery, the apparatus being applied to a vehicle including a power battery pack, a first motor, and a second motor, the apparatus comprising: a rotation control module configured to control the power battery pack to output a drive current to the first motor to drive the first motor to rotate, the rotation control module dragging the second motor to rotate when the first motor is rotating; a self-heating control module configured to control the power battery pack to output a self-heating current to the second motor to self-heat the power battery; an acquisition module configured to acquire a real-time rotation speed of the first motor; a frequency control module configured to control a fundamental frequency of the self-heating based on the real-time rotation speed so as to stagger the fundamental frequency and the real-time rotation speed; Includes.

[0027] In some embodiments, the frequency control module: a first control unit configured to control the fundamental frequency to be the first frequency when the real-time rotation speed is within a first rotation speed interval; a second control unit configured to control the fundamental frequency to a second frequency when the real-time rotation speed is within a second rotation speed interval, wherein any rotation speed in the second rotation speed interval is greater than any rotation speed in the first rotation speed interval, and the second frequency is less than the first frequency; Includes.

[0028] In some embodiments, the frequency control module: a condition control frequency unit configured to control the fundamental frequency based on the real-time rotation speed and a real-time condition so as to stagger the fundamental frequency and the real-time rotation speed, the real-time condition including an acceleration condition or a deceleration condition; Includes.

[0029] In some embodiments, the condition control frequency unit: an expected rotation speed subunit configured to determine an expected rotation speed based on a depression degree of an accelerator pedal under an acceleration condition or a depression degree of a decelerator pedal under a deceleration condition, the expected rotation speed indicating a rotation speed of the motor corresponding to a vehicle speed that a driver expects to achieve; a condition control subunit configured to control the self-heating current value and the fundamental frequency based on a value relationship between the expected rotation speed and the plurality of preset rotation speeds and a value relationship between the real-time rotation speed and the plurality of preset rotation speeds in combination with a real-time condition; Includes.

[0030] In some embodiments, the plurality of preset rotational speeds includes a first preset rotational speed and a second preset rotational speed; The conditional control subunits are, in particular, When the expected rotation speed is equal to or lower than a second preset rotation speed, in the process of increasing the real-time rotation speed to the expected rotation speed under an accelerating condition, controlling the self-heating current value to be a first current value and controlling the fundamental frequency to be a first frequency; or When the expected rotation speed is greater than a second preset rotation speed, in a process in which the real-time rotation speed increases to a rotation speed smaller than the first preset rotation speed under an acceleration condition, the self-heating current value is controlled to be a first current value, and the fundamental frequency is controlled to be a first frequency; In the process of increasing the real-time rotation speed from a first preset rotation speed to an expected rotation speed, controlling the self-heating current value to decrease from a first current value to a second current value, and controlling the fundamental frequency to decrease from the first frequency to a second frequency, where the second current value is close to or equal to 0; The device is configured to:

[0031] In some embodiments, the conditional control subunit is, inter alia: determining whether a stable signal is received, the stable signal indicating that the second motor does not generate torque pulse ripple that oscillates back and forth; When a stable signal is received, controlling the self-heating current value to increase from the second current value to the first current value and maintaining the fundamental frequency at the second frequency; or When a stable signal is not received, the self-heating current value is maintained at a second current value and the fundamental frequency is maintained at a second frequency; after a stable signal is received, the self-heating current value is controlled to increase from the second current value to the first current value and the fundamental frequency is maintained at a second frequency. The device is further configured to:

[0032] In some embodiments, the plurality of preset rotational speeds includes a first preset rotational speed and a second preset rotational speed; The conditional control subunits are, in particular, When the expected rotation speed is greater than a second preset rotation speed, in the process of the real-time rotation speed decreasing to the expected rotation speed under deceleration conditions, controlling the self-heating current value to be a first current value and controlling the fundamental frequency to be a second frequency; or When the expected rotation speed is equal to or less than a second preset rotation speed, after the real-time rotation speed becomes smaller than the second preset rotation speed under a deceleration condition, control the self-heating current value to decrease from the first current value to a second current value, and control the fundamental frequency to increase from the second frequency to the first frequency, where the second current value is close to or equal to 0. The device is further configured to:

[0033] In some embodiments, the conditional control subunit is, inter alia: determining whether a stable signal is received, the stable signal indicating that the second motor does not generate torque pulse ripple that oscillates back and forth; When a stable signal is received, controlling the self-heating current value to increase from the second current value to the first current value and maintaining the fundamental frequency at the first frequency; or When a stable signal is not received, the self-heating current value is maintained at a second current value and the fundamental frequency is maintained at a first frequency; after a stable signal is received, the self-heating current value is controlled to increase from the second current value to the first current value and the fundamental frequency is maintained at the first frequency. The device is further configured to:

[0034] According to a fourth aspect, an embodiment of the present disclosure further provides another device for suppressing vehicle vibration during self-heating of a battery, the device being applied to a vehicle including a power battery pack, a first motor, and a second motor, the device comprising: a rotation and drag module configured to control the power battery pack to output a drive current to the first motor to drive the first motor to rotate, the rotation and drag module dragging the second motor to rotate when the first motor is rotating; a current self-heating module configured to control the power battery pack to output a self-heating current to the second motor to self-heat the power battery; a drive fundamental frequency acquisition module configured to acquire a fundamental frequency of a drive current of the first motor; a self-heating fundamental frequency control module configured to control the fundamental frequency of the self-heating current based on the fundamental frequency of the drive current such that the fundamental frequency of the self-heating current and the fundamental frequency of the drive current are staggered; Includes.

[0035] In some embodiments, the self-heating fundamental frequency control module comprises: a first unit configured to control a fundamental frequency of the self-heating current to be a first frequency when the fundamental frequency of the drive current is within a first frequency interval; a second unit configured to control the fundamental frequency of the self-heating current to be a second frequency when the fundamental frequency of the drive current is within a second frequency interval, wherein any frequency in the second frequency interval is greater than any frequency in the first frequency interval, and the second frequency is less than the first frequency; Includes.

[0036] In some embodiments, the self-heating fundamental frequency control module comprises: a frequency staggering control unit configured to control a fundamental frequency of the self-heating current based on a fundamental frequency of the drive current and a real-time condition so as to stagger the fundamental frequency of the self-heating current and the fundamental frequency of the drive current, wherein the real-time condition includes an acceleration condition or a deceleration condition. Includes.

[0037] In some embodiments, the frequency staggering control unit: a condition and expected rotation speed subunit configured to determine an expected rotation speed based on a depression degree of an accelerator pedal under an acceleration condition or a depression degree of a decelerator pedal under a deceleration condition, the expected rotation speed indicating a rotation speed of the motor corresponding to a vehicle speed that a driver expects to achieve; an expected frequency determination subunit configured to determine an expected frequency corresponding to the expected rotation speed based on the expected rotation speed; a frequency staggering control subunit configured to control the self-heating current value and the fundamental frequency of the self-heating current based on a value relationship between the expected frequency and the plurality of preset frequencies and a value relationship between the fundamental frequency of the drive current and the plurality of preset frequencies in combination with a real-time condition; Includes.

[0038] In some embodiments, the plurality of preset frequencies includes a first preset frequency and a second preset frequency; The frequency staggering control sub-unit may, in particular: When the expected frequency is equal to or less than a second preset frequency, in the process of increasing the fundamental frequency of the driving current to the expected frequency under an accelerating condition, controlling the self-heating current value to be a first current value and controlling the fundamental frequency of the self-heating current to be the first frequency; or When the expected frequency is greater than the second preset frequency, in the process of increasing the fundamental frequency of the driving current to a frequency less than the first preset frequency under an acceleration condition, controlling the self-heating current value to be a first current value, and controlling the fundamental frequency of the self-heating current to be the first frequency; In the process of increasing the fundamental frequency of the driving current from a first preset frequency to an expected frequency, controlling the self-heating current value to decrease from a first current value to a second current value, and controlling the fundamental frequency of the self-heating current to decrease from the first frequency to a second frequency, where the second current value is close to or equal to 0; The device is configured to:

[0039] In some embodiments, the frequency staggering control subunit is particularly determining whether a stable signal is received, the stable signal indicating that the second motor does not generate torque pulse ripple that oscillates back and forth; When a stable signal is received, controlling the self-heating current value to increase from the second current value to the first current value, and maintaining the fundamental frequency of the self-heating current at the second frequency; or When a stable signal is not received, the self-heating current value is maintained at a second current value, and the fundamental frequency of the self-heating current is maintained at a second frequency; after a stable signal is received, the self-heating current value is controlled to increase from the second current value to the first current value, and the fundamental frequency of the self-heating current is maintained at the second frequency. The device is further configured to:

[0040] In some embodiments, the plurality of preset frequencies includes a first preset frequency and a second preset frequency; The frequency staggering control sub-unit may, in particular: When the expected frequency is greater than a second preset frequency, in the process of the fundamental frequency of the driving current decreasing to the expected frequency under deceleration conditions, controlling the self-heating current value to be a first current value and controlling the fundamental frequency of the self-heating current to be a second frequency; or When the expected frequency is equal to or less than a second preset frequency, after the fundamental frequency of the driving current becomes smaller than the second preset frequency under a deceleration condition, controlling the self-heating current value to decrease from a first current value to a second current value, and controlling the fundamental frequency of the self-heating current to increase from the second frequency to the first frequency, where the second current value is close to or equal to 0. The device is further configured to:

[0041] In some embodiments, the frequency staggering control subunit is particularly determining whether a stable signal is received, the stable signal indicating that the second motor does not generate torque pulse ripple that oscillates back and forth; When a stable signal is received, controlling the self-heating current value to increase from the second current value to the first current value, and maintaining the fundamental frequency of the self-heating current at the first frequency; or When a stable signal is not received, the self-heating current value is maintained at a second current value and the fundamental frequency of the self-heating current is maintained at a first frequency; after a stable signal is received, the self-heating current value is controlled to increase from the second current value to the first current value and the fundamental frequency of the self-heating current is maintained at the first frequency; The device is further configured to:

[0042] According to a fifth aspect, an embodiment of the present disclosure provides a vehicle configured to perform the method for suppressing vehicle vibration during self-heating of a battery according to any one of the first aspects; A controller configured to perform the method for suppressing vehicle vibration during battery self-heating according to any one of the second aspects.

[0043] The method for suppressing vehicle vibration during battery self-heating provided in the present disclosure is applied to a vehicle including a power battery pack, a first motor, and a second motor. In particular, during operation, the power battery pack is controlled to output a drive current to the first motor to drive and rotate the first motor, and the first motor, when rotating, drags and rotates the second motor. The power battery pack is controlled to output a self-heating current to the second motor to self-heat the power battery.

[0044] The present disclosure provides a method for suppressing vehicle vibration during battery self-heating, based on the breakthrough discovery by the present inventor of the direct cause of second motor jitter. In this method, a power battery pack is controlled to output a drive current to a first motor to drive and rotate the first motor. While the first motor rotates, the power battery pack controls a self-heating current to the second motor to self-heat the power battery. The real-time rotation speed of the first motor is acquired, and the fundamental frequency of the self-heating current is controlled based on the real-time rotation speed. The present inventor discovered that second motor jitter occurs when the fundamental frequency of a heating source providing heating energy has a numerical relationship with the real-time rotation speed of the second motor. Therefore, based on the real-time rotation speed of the first motor, the fundamental frequency of the self-heating current is controlled to prevent the two from satisfying the numerical relationship. In this case, second motor jitter can be eliminated. That is, the fundamental frequency of the heating source is changed to stagger the fundamental frequency of self-heating and the real-time rotation speed, thereby eliminating jitter in the second motor, preventing the vehicle from vibrating, and further avoiding a shortened lifespan of the second motor while improving the driving experience for passengers.

[0045] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of exemplary implementations. The accompanying drawings are used merely to illustrate preferred implementations and are not to be considered limitations on the present disclosure. The same reference numerals are used to represent the same components throughout the accompanying drawings. [Brief explanation of the drawings]

[0046] [Figure 1] 1 is a flowchart of a method for suppressing vehicle vibration during battery self-heating, according to one embodiment of the disclosure. [Figure 2] FIG. 2 is a diagram of a circuit configuration of a power battery, a first motor, and a second motor according to one embodiment of the present disclosure. [Figure 3] 1 is an example of a rotation speed-frequency curve chart according to one embodiment of the present disclosure. [Figure 4] 10 is a flowchart of another method for suppressing vehicle vibration during battery self-heating in accordance with another embodiment of the present disclosure. [Figure 5] FIG. 1 is a block diagram of an apparatus for suppressing vehicle vibration during battery self-heating, according to one embodiment of the present disclosure. [Figure 6] FIG. 10 is a block diagram of another apparatus for suppressing vehicle vibration during battery self-heating, in accordance with an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0047] In order to make the above-mentioned objects, features, and advantages of the present disclosure clearer and easier to understand, the present disclosure will be further described in detail below with reference to the accompanying drawings and specific implementation forms. It should be understood that the specific embodiments described herein are only used to explain the present disclosure, and are only a part, but not all, of the embodiments of the present disclosure, and are not used to limit the present disclosure.

[0048] The inventor has found that currently, battery packs in electric vehicles are mostly self-heated when the vehicle is stopped and rarely heat up while the vehicle is running. In the case of an electric vehicle with multiple motors, such as a four-wheel drive electric vehicle, some motors may be used for driving, and other motors may be used to self-heat the battery. In this case, the battery may self-heat while driving. However, the inventor has found that such a self-heating method currently causes jitter in the motor used for self-heating while driving, thereby causing the entire vehicle to vibrate. Those skilled in the art believe that this is caused by a jitter problem in the drive motor system. For example, when an electric vehicle starts driving or driving within a speed range, the torque of the drive motor instantly jumps, thereby causing jitter in the motor used for self-heating and causing the entire vehicle to vibrate.

[0049] Based on the above recognition, there are currently two ways to solve the problem.

[0050] One is to reduce vibrations of the entire vehicle by installing a vibration damper, and the other is to calculate torque jitter based on changes in the angular velocity and rotational inertia of the drive motor, and to control the rotation of the drive motor in combination with this torque jitter to reduce vibrations of the entire vehicle.

[0051] However, the first method requires the installation of an additional vibration damper, which increases the corresponding hardware cost of the vehicle and takes up more space in the vehicle. The second method does not require additional hardware, but the control logic is complex. More importantly, the jitter of the motor used due to self-heating is not fundamentally eliminated.

[0052] The problem of jitter in motors used due to self-heating is not essentially solved by using the above two methods, because the direct cause of jitter in motors used due to self-heating is not fundamentally found, let alone how to solve the problem. In other words, only the symptoms are addressed, not the root cause.

[0053] Based on the above problems, the inventor proposes a targeted method to suppress vehicle vibration during battery self-heating. The technical solution of the present disclosure is described in detail below.

[0054] 1 is a flowchart of a method for suppressing vehicle vibration during battery self-heating according to one embodiment of the present disclosure. The method includes the following steps.

[0055] In step 101, the power battery pack is controlled to output a driving current to the first motor to drive the first motor to rotate, and the first motor, when rotating, drags the second motor to rotate.

[0056] The method for suppressing vehicle vibrations during battery self-heating provided in this embodiment of the present disclosure is applicable to an electric vehicle having at least two motors, where some of the motors drive the entire vehicle and other motors function as self-heating motors, i.e., the first motor drives and runs the entire vehicle by using energy provided by a power battery pack, and at the same time, when the first motor rotates, it drags and rotates the second motor (i.e., the motor used for self-heating). In this embodiment of the present disclosure, the first motor may be defined as a synchronous motor or an asynchronous motor. The first motor drives and runs the entire vehicle by using energy provided by a power battery pack, and when rotating, it drags and rotates the second motor. The second motor is defined as an asynchronous motor, i.e., the motor used for self-heating.

[0057] In step 102, the power battery pack is controlled to output a self-heating current to the second motor to cause the power battery to self-heat.

[0058] In order to make the power battery self-heat, while the first motor drags and rotates the second motor, the power battery pack needs to output a self-heating current to the second motor by using the second motor and the control loop of the second motor to make the power battery self-heat.

[0059] FIG. 2 is a circuit diagram of a power battery, a first motor, and a second motor according to one embodiment of the present disclosure. In FIG. 2, E represents the power battery, M1 represents the first motor (i.e., the drive motor), and M2 represents the second motor (i.e., the motor used for self-heating). The power battery is divided into a first battery pack and a second battery pack. A neutral wire is derived from the neutral point of the second motor M2 and connected between the first battery pack and the second battery pack. The first motor M1 rotates by using the energy provided by the power battery E to drive the entire vehicle. At the same time, when the first motor M1 rotates, it drags and rotates the second motor M2. The power battery E outputs a self-heating current to the second motor M2 to self-heat the power battery E by using the second motor M2 and the second motor control loop. A control switch K4 is a control switch for the self-heating current loop. When self-heating is performed, the control switch K4 needs to be closed. To alternately charge and discharge the first battery pack, the second battery pack, and the motor winding, the upper and lower bridge arms of the motor inverter connected to M2 are alternately turned on and off. During charging and discharging, the battery's internal resistor generates heat to cause the battery to self-heat. The specific on-off sequence can be, but is not limited to, the following sequence: (1) The upper bridge arm of the motor inverter is turned on, discharging the first battery pack (upper part) and charging the motor winding; (2) The lower bridge arm of the motor inverter is turned on, causing the motor winding to circulate and charge the second battery pack (lower part); (3) The lower bridge arm of the motor inverter is turned on, causing the second battery pack to charge the motor winding; (4) The upper bridge arm of the motor inverter is turned on, causing the motor winding to circulate and charge the first battery pack. When self-heating is not required, the control switch K4 is open.For the operation principles of other components, such as the DC port, the DC charging loop switches K2 and K3, and the capacitor C2, as well as the operation principles of other circuit loops, please refer to the currently known operation principles of circuit loops in electric vehicles, and the details will not be repeated here.

[0060] In step 103, the real-time rotation speed of the first motor is obtained.

[0061] After conducting extensive and comprehensive research and testing on self-heating methods, principles, motor characteristics, etc., the inventor made the groundbreaking discovery that the direct cause of jitter in a motor used for self-heating is that when the fundamental frequency of a heat source providing a heating energy source has a numerical relationship with the real-time rotation speed of the motor used for self-heating, for example, when the fundamental frequency of the heat source has a multiplicative or functional relationship with the real-time rotation speed of the motor used for self-heating, jitter is generated in the motor used for self-heating.

[0062] Generally, since the first motor is the driving motor that rotates the second motor, the rotation speed of the second motor can be considered to be equal to the rotation speed of the first motor. For example, if the first motor has one pole pair, the rotation speed of the first motor may be known to be 3000 rpm, based on the common commercial frequency of 50 Hz in China. In this case, the actual rotation speed of the second motor may be 2960 rpm, which is very close to 3000 rpm. Therefore, the rotation speed of the second motor can be considered to be 3000 rpm. Therefore, the real-time rotation speed of the first motor must first be obtained. This is essentially equivalent to obtaining the real-time rotation speed of the second motor.

[0063] In step 104, the fundamental frequency of the self-heating current is controlled based on the real-time rotation speed so as to stagger the fundamental frequency and the real-time rotation speed.

[0064] After the real-time rotation speed of the first motor is obtained, the fundamental frequency of the self-heating current can be controlled to stagger the fundamental frequency of the self-heating current and the real-time rotation speed of the first motor (i.e., to break the numerical relationship between the two), thereby fundamentally solving the jitter problem of the second motor.

[0065] Those skilled in the art will understand that the fundamental frequency of the self-heating current can be controlled by controlling the on and off of the upper and lower bridge arms of the motor inverter connected to the second motor M2. The vehicle may further include a controller for controlling the motor inverter. All relevant content is conventional and will not be repeated here.

[0066] The method for controlling the fundamental frequency of self-heating based on the real-time rotation speed so as to stagger the fundamental frequency of self-heating and the real-time rotation speed can be particularly classified into two methods.

[0067] In one method, when the real-time rotation speed is within a first rotation speed interval, the fundamental frequency is controlled to be a first frequency, and when the real-time rotation speed is within a second rotation speed interval, the fundamental frequency is controlled to be a second frequency, and any rotation speed in the second rotation speed interval is greater than any rotation speed in the first rotation speed interval, and the second frequency is smaller than the first frequency.

[0068] Since the self-heating fundamental frequency and the real-time rotation speed of the first motor need to be staggered, to break the numerical relationship between the two, the rotation speed is divided into two rotation speed intervals, i.e., the first rotation speed interval and the second rotation speed interval, and the fundamental frequency is set to two frequencies, i.e., the first frequency and the second frequency.

[0069] It is set that the first rotation speed interval has no numerical relationship with the first frequency, and the second rotation speed interval has no numerical relationship with the second frequency. When the real-time rotation speed is within the first rotation speed interval, the jitter problem of the second motor can only be solved by controlling the fundamental frequency to be the first frequency. When the real-time rotation speed is within the second rotation speed interval, the jitter problem of the second motor can only be solved by controlling the fundamental frequency to be the second frequency. In this embodiment of the present disclosure, it is set that any rotation speed in the second rotation speed interval is greater than any rotation speed in the first rotation speed interval, and the second frequency is smaller than the first frequency. Alternatively, if the rotation speed interval does not have a numerical relationship with the frequency, it can be set that any rotation speed in the second rotation speed interval is smaller than any rotation speed in the first rotation speed interval, and the second frequency is greater than the first frequency.

[0070] In the other method, the self-heating is implemented using a second motor and its winding loop and control loop. Considering the impact of a change in the fundamental frequency on the second motor and its effect on the self-heating current, the self-heating current needs to be adjusted in advance when the fundamental frequency is changed. Therefore, when the fundamental frequency of the self-heating current is controlled to stagger the fundamental frequency and the real-time rotation speed, the self-heating current value of the battery also needs to be controlled in advance. Furthermore, considering that frequency conversion requires a period and that acceleration and deceleration conditions need to be used separately, the method is to control the self-heating fundamental frequency based on the real-time rotation speed and real-time conditions to stagger the self-heating fundamental frequency and the real-time rotation speed. The so-called real-time conditions include acceleration and deceleration conditions.

[0071] A specific method for controlling the self-heating current value and the fundamental frequency of the self-heating of a battery includes the following steps.

[0072] In step V1, an expected rotation speed is determined based on the degree of depression of the accelerator pedal under acceleration conditions or the degree of depression of the decelerator pedal under deceleration conditions, and the expected rotation speed indicates the rotation speed of the motor corresponding to the vehicle speed that the driver expects to achieve.

[0073] The real-time rotation speed of the motor of an electric vehicle is generally collected by a rotation speed sensor. The real-time conditions of a running vehicle are generally classified into acceleration conditions and deceleration conditions. An acceleration condition occurs naturally when the driver presses the accelerator pedal. A deceleration condition occurs naturally when the driver presses the deceleration pedal (in other words, the brake pedal). The information may be particularly transmitted to or actively acquired by a vehicle-wide controller. Alternatively, when the vehicle is under the control of a driver assistance system or an automated driving system, the vehicle controller may automatically control the acceleration and deceleration of the vehicle based on the running requirements of the vehicle, and the acceleration and deceleration also correspond to the acceleration condition and the deceleration condition, respectively.

[0074] In one embodiment, when a driver depresses the accelerator pedal or decelerator pedal, or when a controller automatically controls the acceleration or deceleration of a vehicle, whether the vehicle needs to accelerate or decelerate can be reflected, and the expected rotation speed can be determined based on the degree of depression of the accelerator pedal, the degree of depression of the decelerator pedal, or a signal sent by the controller. The so-called expected rotation speed indicates the motor rotation speed corresponding to the vehicle speed expected by the driver. For example, if the current vehicle speed is 30 km / h and the corresponding motor rotation speed is 800 rpm, the driver depresses the accelerator pedal in the hope of increasing the vehicle speed to 80 km / h. The motor rotation speed corresponding to 80 km / h is 2600 rpm. In this case, the expected rotation speed is 2600 rpm. The principle of the expected rotation speed under deceleration conditions is the same as the previous example, and will not be described in detail here.

[0075] Of course, the expected rotation speed can alternatively be determined in another manner: for example, the driver can directly set the required speed to 80 km / h by hardware manipulation, by using a verbal command, or in another manner, in which case the overall vehicle controller can alternatively determine the expected rotation speed.

[0076] In step V2, the self-heating current value and the fundamental frequency are controlled based on the value relationship between the expected rotation speed and the plurality of preset rotation speeds, and the value relationship between the real-time rotation speed and the plurality of preset rotation speeds, in combination with real-time conditions.

[0077] After the expected rotation speed is determined, the self-heating current value can be controlled based on the value relationship between the expected rotation speed and the plurality of preset rotation speeds and the value relationship between the real-time rotation speed and the plurality of preset rotation speeds, as well as in combination with whether the real-time condition is acceleration or deceleration, and the fundamental frequency is controlled to be a first frequency, or the fundamental frequency is controlled to change from the first frequency to a second frequency, or the fundamental frequency is controlled to be the second frequency.

[0078] Generally, there are two fundamental frequencies of self-heating, namely, a first frequency and a second frequency. For example, the frequencies may be 100 Hz and 300 Hz. The fundamental frequency of the self-heating current can be determined based on the actual hardware device, requirements, and comprehensive consideration of multiple factors.

[0079] Because the fundamental frequency and the real-time rotation speed need to be staggered, to avoid a numerical relationship with the real-time rotation speed, a rotation speed having a numerical relationship with the fundamental frequency can be determined based on the two fundamental frequencies. Taking into account the slight difference between the rotation speed of the second motor and the rotation speed of the first motor, as well as the accuracy of acquiring the rotation speed, based on the determined rotation speed, a rotation speed interval within the interval range above and below that rotation speed is determined as the rotation speed sensing region. The rotation speed of the second motor is considered to be within the rotation speed sensing region. Therefore, the rotation speed of the second motor can have a numerical relationship with the fundamental frequency.

[0080] Furthermore, controlling the fundamental frequency to increase or decrease requires a period of time, and it is considered impossible to control the fundamental frequency to decrease from a first frequency to a second frequency or increase from the second frequency to the first frequency within a very short period of time. A transition region is also required. Two factors, the transition region and the rotation speed sensing region, are combined. Therefore, two preset rotation speeds are set, and the fundamental frequency and the self-heating current value are controlled in combination with the actual rotation speed and the expected rotation speed.

[0081] For example, assume that the first frequency is 300 Hz, the second frequency is 100 Hz, the number of pole pairs of the second motor is 1, the rotation speed sensing range corresponding to the first frequency of 300 Hz is 2500 rpm to 4000 rpm, and the rotation speed sensing range corresponding to the second frequency of 100 Hz is 800 rpm to 1500 rpm. It is considered that controlling the fundamental frequency to decrease from 300 Hz to 100 Hz or increase from 100 Hz to 300 Hz requires a certain period of time. Therefore, when the rotation speed is determined to be less than 1500 rpm, the rotation speed may have a numerical relationship with the fundamental frequency of 100 Hz. When the rotation speed is determined to be greater than 2500 rpm, the rotation speed may have a numerical relationship with the fundamental frequency of 300 Hz. The first preset rotation speed is determined to be 1500 rpm, the second preset rotation speed is determined to be 2500 rpm, and the interval from 1500 rpm to 2500 rpm is determined as a transition region in which the fundamental frequency is controlled to decrease from 300 Hz to 100 Hz or increase from 100 Hz to 300 Hz.

[0082] During a particular implementation, the acceleration and deceleration conditions are slightly different and are described separately below.

[0083] In acceleration conditions, step V2 may include, inter alia, the following steps:

[0084] In step V2a, if the expected rotation speed is equal to or less than a second preset rotation speed, the real-time rotation speed is increased from 0 to the expected rotation speed under acceleration conditions, the self-heating current value is controlled to be a first current value, and the fundamental frequency is controlled to be a first frequency.

[0085] The real-time rotation speed of the motor may be less than the first preset rotation speed and may have a numerical relationship with the second frequency. Thus, when the real-time rotation speed of the motor is less than the second preset rotation speed, the fundamental frequency is controlled to be the first frequency. However, when the real-time rotation speed of the motor is greater than the second preset rotation speed, there may be a numerical relationship with the first frequency. Thus, when the real-time rotation speed of the motor is greater than the second preset rotation speed, the fundamental frequency is controlled to be the second frequency.

[0086] Controlling the change in the fundamental frequency takes a period of time. Therefore, when the real-time rotation speed is equal to or less than the second preset rotation speed, it is necessary to start controlling the change in the fundamental frequency. However, when the expected rotation speed is equal to or less than the second preset rotation speed, i.e., when the real-time rotation speed of the motor eventually stabilizes below the second preset rotation speed, it is not necessary to control the change in the fundamental frequency. Therefore, it is necessary to first determine the value relationship between the expected rotation speed and the second preset rotation speed.

[0087] When the expected rotation speed is equal to or lower than the second preset rotation speed, there is no need to control the change in the fundamental frequency, and only the fundamental frequency needs to be controlled to be the first frequency. Furthermore, to ensure self-heating efficiency, the self-heating current value is controlled to be the first current value.

[0088] Following the above example, if the expected rotation speed is 2450 rpm, which is smaller than 2500 rpm, only the fundamental frequency needs to be controlled to be 300 Hz to avoid a numerical relationship with the real-time rotation speed. Furthermore, to ensure self-heating efficiency, the self-heating current value is controlled to be the first current value, for example, 540 A. Therefore, during the entire process in which the real-time rotation speed of the second motor increases from 0 to 2450 rpm, in order to heat the power battery, the self-heating current value is controlled to be 540 A, and the fundamental frequency of the self-heating current is controlled to be 300 Hz.

[0089] In step V2b1, if the expected rotation speed is greater than the second preset rotation speed, in the process in which the real-time rotation speed increases from 0 to a rotation speed smaller than the first preset rotation speed under acceleration conditions, the self-heating current value is controlled to be a first current value, and the fundamental frequency is controlled to be a first frequency.

[0090] In step V2b2, in the process of increasing the real-time rotation speed from the first preset rotation speed to a speed equal to or lower than the second preset rotation speed, the self-heating current value is controlled to decrease from the first current value to a second current value, and the fundamental frequency is controlled to decrease from the first frequency to a second frequency, and the second current value is close to or equal to 0.

[0091] When the expected rotation speed is greater than the second preset rotation speed, the fundamental frequency needs to be controlled to change. Considering the requirement that the fundamental frequency cannot be the second frequency when the real-time rotation speed is smaller than the first preset rotation speed, in order to ensure self-heating efficiency and reduce the impact of the fundamental frequency on the second motor and its influence on the self-heating current, self-heating is performed by using the first current value and the first frequency in the process when the real-time rotation speed of the motor is smaller than the first preset rotation speed. However, after the real-time rotation speed of the motor becomes greater than the first preset rotation speed, the self-heating current value is first reduced to the second current value, and then the fundamental frequency is reduced to 100 Hz before the real-time rotation speed of the motor increases to the second preset rotation speed, thereby starting to control the fundamental frequency to decrease from the first frequency to the second frequency so as to prevent the second motor from generating jitter.

[0092] Following the example above, suppose the expected rotation speed is 2550 rpm, which is greater than 2500 rpm. During the entire process of increasing the real-time rotation speed of the second motor from 0 to 1500 rpm, the self-heating current value is controlled to 540 A, and the fundamental frequency of the self-heating source is controlled to 300 Hz. When the real-time rotation speed of the motor increases to 1500 rpm, the self-heating current value is first controlled to decrease to a value close to 0 or directly to 0. Then, before the real-time rotation speed of the motor increases to 2500 rpm, the fundamental frequency is controlled to decrease from 300 Hz to 100 Hz, so that the fundamental frequency decreases to 100 Hz. Because the rotation speed in the transition region has no numerical relationship with the fundamental frequency, the second motor will not generate jitter, regardless of whether the fundamental frequency is controlled to decrease from 300 Hz to 100 Hz or increase from 100 Hz to 300 Hz.

[0093] After the self-heating current value is controlled to decrease from the first current value to the second current value and the fundamental frequency is controlled to decrease from the first frequency to the second frequency, the following steps are further included:

[0094] In step V2b3, it is determined whether a stable signal has been received, where a stable signal indicates that the second motor is not producing torque pulse ripple that oscillates back and forth.

[0095] In step V2b4, when a stable signal is received, the self-heating current value is controlled to increase from the second current value to the first current value, and the fundamental frequency is maintained at the second frequency.

[0096] In step V2b5, when a stable signal is not received, the self-heating current value is maintained at the second current value and the fundamental frequency is maintained at the second frequency, and after a stable signal is received, the self-heating current value is controlled to increase from the second current value to the first current value and the fundamental frequency is maintained at the second frequency.

[0097] Controlling the fundamental frequency from a first frequency to a second frequency is essentially a frequency conversion process. During the frequency conversion process, the second motor is subjected to an impulse, which may cause the torque of the second motor to fluctuate or cause jitter in the second motor. However, jitter may or may not occur during the frequency conversion process. Even if jitter does occur, it can be ignored because it is much weaker than the jitter caused by the numerical relationship between the fundamental frequency and the motor's real-time rotation speed.

[0098] However, the self-heating current value may be changed back to the first current value only after it is determined that the second motor is not jittering and is in a stable state. Thus, when in a stable state, the second motor may send a stable signal to the overall vehicle controller. The stable signal indicates that the second motor is not generating torque pulse ripples that oscillate back and forth. Alternatively, the overall vehicle controller may determine whether the second motor is stable based on whether the torque data of the second motor fluctuates.

[0099] When it is determined that a stable signal has been received, the self-heating current value can be controlled to increase from the second current value to the first current value to ensure self-heating efficiency, and the fundamental frequency can be maintained at the second frequency. Thereafter, regardless of whether the real-time rotation speed of the motor has temporarily not yet reached 2500 rpm or is greater than 2500 rpm, self-heating is performed by using the first current value and the second frequency.

[0100] Another possibility is that the frequency conversion is completed but the stabilization of the second motor state is relatively delayed. In this case, a stable signal is not received, and the self-heating current value continues to be maintained at the second current value, and the fundamental frequency is maintained at the second frequency. After a stable signal is received, the self-heating current value is controlled to increase from the second current value to the first current value, and the fundamental frequency is maintained at the second frequency.

[0101] Following the example above, assuming the expected rotation speed is 2550 rpm, which is greater than 2500 rpm, the self-heating current value is controlled to 540 A and the fundamental frequency of the self-heating current is controlled to 300 Hz throughout the entire process of increasing the real-time rotation speed of the second motor from 0 to 1500 rpm. When the real-time rotation speed of the motor increases to 1500 rpm, the self-heating current value is first controlled to decrease to a value close to 0 or directly to 0. Then, the fundamental frequency is controlled to decrease from 300 Hz to 100 Hz, so that the fundamental frequency decreases to 100 Hz before the real-time rotation speed of the motor increases to 2500 rpm. When the real-time rotation speed of the motor increases to 2280 rpm, the frequency conversion is completed, and a stable signal is received. Assuming the real-time rotation speed of the motor increases to 2550 rpm, the self-heating current value is controlled to increase from a value close to 0 or 0 to 540 A, and the fundamental frequency of the heating source continues to be maintained at 100 Hz. Assuming the motor's real-time rotation speed increases to 2280 rpm and frequency conversion is complete, but the motor remains unstable and no stable signal is received, the self-heating current value is still controlled to a value close to or equal to 0, and the self-heating fundamental frequency is maintained at 100 Hz. When the motor's real-time rotation speed increases to 2510 rpm, the motor becomes stable and a stable signal is received. The self-heating current value is then controlled to increase to a value close to or equal to 540 A, and the self-heating fundamental frequency is maintained at 100 Hz, until the motor's real-time rotation speed increases to 2550 rpm. In an extreme case, it can be seen that a stable signal has not yet been received when the motor's real-time rotation speed reaches 2550 rpm. In this case, the vehicle continues to travel at a speed corresponding to the motor's real-time rotation speed of 2550 rpm, and the self-heating fundamental frequency is maintained at 100 Hz. After a stable signal is received, the self-heating current value is controlled to increase from a value close to 0 or 0 to 540 A, and the fundamental frequency of self-heating continues to be maintained at 100 Hz.

[0102] The above has described how to suppress the jitter of the second motor under acceleration conditions. Similarly, under deceleration conditions, step V2 may include, inter alia, the following steps:

[0103] In step V2c, if the expected rotation speed is greater than the second preset rotation speed, the real-time rotation speed is reduced to the expected rotation speed under deceleration conditions, the self-heating current value is controlled to be the first current value, and the fundamental frequency is controlled to be the second frequency.

[0104] Similarly to the acceleration condition, when the expected rotation speed is greater than the second preset rotation speed, there is no need to control the change in the fundamental frequency, and only the fundamental frequency needs to be controlled to be the second frequency. Furthermore, to ensure self-heating efficiency, the self-heating current value is controlled to be the first current value.

[0105] Following the above example, suppose the expected rotation speed is 2550 rpm, which is greater than 2500 rpm, then only the fundamental frequency needs to be controlled to be 100 Hz to avoid a numerical relationship with the real-time rotation speed. Furthermore, the self-heating current value is controlled to be 540 A. Therefore, in the whole process of the real-time rotation speed of the second motor decreasing to 2550 rpm, in order to heat the battery, the self-heating current value is controlled to be 540 A, and the fundamental frequency of the self-heating current is controlled to be 100 Hz.

[0106] In step V2d1, if the expected rotation speed is less than or equal to the second preset rotation speed, after the real-time rotation speed becomes smaller than the second preset rotation speed under deceleration conditions, the self-heating current value is controlled to decrease from the first current value to the second current value, and the fundamental frequency is controlled to increase from the second frequency to the first frequency, and the second current value is close to or equal to 0.

[0107] Under slightly different acceleration conditions, when the expected rotation speed is equal to or lower than the second preset rotation speed, the fundamental frequency needs to be controlled to change. However, when the real-time rotation speed of the motor is equal to or lower than the second preset rotation speed, the second frequency can be changed to the first frequency. The self-heating current value is first reduced to the second current value, and then the fundamental frequency is increased from the second frequency to the first frequency to prevent the second motor from generating jitter, so that the fundamental frequency increases to 300 Hz before the real-time rotation speed of the motor decreases to the first preset rotation speed.

[0108] Following the example above, suppose the expected rotation speed is 850 rpm, which is much smaller than 2500 rpm. As the real-time rotation speed of the second motor decreases from its current speed to a speed close to 2500 rpm, the battery's self-heating current value is controlled to 540 A, and the heating source's fundamental frequency is controlled to 100 Hz. When the real-time rotation speed of the motor decreases to 2500 rpm, the self-heating current value is first controlled to decrease to a value close to 0, or even directly to 0. Then, the fundamental frequency is controlled to increase from 100 Hz to 300 Hz, so that the fundamental frequency increases to 300 Hz before the real-time rotation speed of the motor decreases to 1500 rpm.

[0109] After the self-heating current value is controlled to decrease from the first current value to the second current value and the fundamental frequency is controlled to increase from the second frequency to the first frequency, the method further includes the following steps:

[0110] In step V2d2 it is determined whether a stable signal has been received.

[0111] In step V2d3, when a stable signal is received, the self-heating current value is controlled to increase from the second current value to the first current value, and the fundamental frequency is maintained at the first frequency.

[0112] In step V2d4, when a stable signal is not received, the self-heating current value is maintained at the second current value and the fundamental frequency is maintained at the first frequency, and after a stable signal is received, the self-heating current value is controlled to increase from the second current value to the first current value and the fundamental frequency is maintained at the first frequency.

[0113] When it is determined that a stable signal has been received, the self-heating current value is controlled to increase from the second current value to the first current value, and the fundamental frequency is maintained at the first frequency. Thereafter, regardless of whether the real-time rotation speed of the motor has temporarily not yet reached 1500 rpm or is temporarily less than 1500 rpm, self-heating is performed by using the first current value and the first frequency.

[0114] Another possibility is that the frequency conversion is completed but the stabilization of the second motor state is relatively delayed. In this case, a stable signal is not received, and the self-heating current value continues to be maintained at the second current value, and the fundamental frequency is maintained at the first frequency. After a stable signal is received, the battery self-heating current value is controlled to increase from the second current value to the first current value, and the fundamental frequency is maintained at the first frequency.

[0115] Following the example above, assuming the expected rotation speed is 850 rpm, the self-heating current value is controlled to 540 A and the fundamental frequency of the self-heating current is controlled to 100 Hz throughout the entire process of the second motor's real-time rotation speed decreasing to a speed close to 2500 rpm. When the motor's real-time rotation speed decreases to 2500 rpm, the self-heating current value is first controlled to decrease to a value close to 0 or directly to 0. Then, the fundamental frequency is controlled to increase from 100 Hz to 300 Hz, so that the fundamental frequency increases to 300 Hz before the motor's real-time rotation speed decreases to 1500 rpm. When the motor's real-time rotation speed decreases to 2280 rpm, the frequency conversion is completed, and the motor state is stable. Assuming a stable signal is received, the self-heating current value is again controlled to increase to a value close to 0 or from 0 to 540 A, and the fundamental frequency of the heating source continues to be maintained at 300 Hz, until the motor's real-time rotation speed decreases to 850 rpm. When the motor's real-time rotation speed decreases to 2280 rpm and frequency conversion is complete, but the motor is unstable and no stable signal is received, the self-heating current value is controlled to a value close to or equal to 0, and the self-heating fundamental frequency is maintained at 300 Hz. When the motor's real-time rotation speed decreases to 1800 rpm, the motor's state stabilizes and a stable signal is received. The self-heating current value is then controlled to increase to a value close to or equal to 540 A, and the self-heating fundamental frequency is maintained at 300 Hz, until the motor's real-time rotation speed decreases to 850 rpm. In an extreme case, it can be seen that a stable signal has not yet been received when the motor's real-time rotation speed decreases to 850 rpm. In this case, the vehicle continues to travel at a speed corresponding to the motor's real-time rotation speed of 850 rpm, and the self-heating fundamental frequency is maintained at 300 Hz. After a stable signal is received, the self-heating current value is controlled to increase from a value close to 0 or 0 to 540 A, and the fundamental frequency of self-heating continues to be maintained at 300 Hz.

[0116] The aforementioned frequency conversion of the fundamental frequency can be more intuitively understood from the rotation speed-frequency curve chart shown in FIG. 3. The X-axis represents the real-time rotation speed of the motor, the Y-axis represents the fundamental frequency, X1 and X2 represent the first and second preset rotation speeds, respectively, and Y1 and Y0 represent the first and second frequencies, respectively. There are two curves between X1 and X2. The solid curve 1 represents the frequency conversion of the fundamental frequency under acceleration, and the dashed-dotted curve 2 represents the frequency conversion of the fundamental frequency under deceleration. FIG. 3 is merely for the convenience of intuitively understanding the frequency conversion of the fundamental frequency and does not represent the corresponding actual rotation speed of the motor when the frequency conversion from the first frequency to the second frequency or from the second frequency to the first frequency is performed. As explained above, it can be understood that the frequency conversion only needs to be completed between X1 and X2 and is not limited to completing the frequency conversion at a specific actual rotation speed of the motor.

[0117] It should be noted that determining the preset rotation speed is also related to the number of pole pairs of the motor. Because the number of pole pairs of the motor varies, the rotation speed of the motor varies. For example, if the motor has one pole pair, the rotation speed may be known to be 3000 rpm, in accordance with the common power frequency of 50 Hz in China. If the motor has two pole pairs, the rotation speed may be known to be 1500 rpm, in accordance with the common power frequency of 50 Hz in China. If the motor has four pole pairs, the rotation speed may be known to be 750 rpm, in accordance with the common power frequency of 50 Hz in China. In this case, when the rotation speed of the motor varies, the corresponding sensing area naturally differs. Therefore, the preset rotation speed also differs. However, regardless of the number of pole pairs of the motor, the method for suppressing vibration of the entire vehicle during battery self-heating in the present disclosure can be applied to eliminate jitter of the second motor.

[0118] Based on the above method for suppressing vehicle vibration during battery self-heating, taking into account the relationship between rotation speed and frequency, a simple transformation can be performed by using the formula: n=60f / p (n represents rotation speed, f represents frequency, and p represents the number of pole pairs). The vehicle can suppress vehicle vibration during battery self-heating in the rotation speed dimension, or can suppress vehicle vibration during battery self-heating in the frequency dimension.

[0119] Based on the above considerations, an embodiment of the present disclosure further proposes another method for suppressing vehicle vibration during battery self-heating based on frequency dimension. Figure 4 is a flowchart of another method for suppressing vehicle vibration during battery self-heating according to an embodiment of the present disclosure. The method is also applicable to a vehicle including a power battery pack, a first motor, and a second motor, and includes the following steps:

[0120] In step 401, the power battery pack is controlled to output a driving current to the first motor to drive and rotate the first motor, and the first motor, when rotating, drags and rotates the second motor.

[0121] In step 402, the power battery pack is controlled to output a self-heating current to the second motor to cause the power battery to self-heat.

[0122] In step 403, the fundamental frequency of the driving current of the first motor is obtained.

[0123] In step 404, the fundamental frequency of the self-heating current is controlled based on the fundamental frequency of the drive current so as to stagger the fundamental frequency of the self-heating current and the fundamental frequency of the drive current.

[0124] In some embodiments, in step 404, the fundamental frequency of the self-heating current is controlled based on the fundamental frequency of the drive current such that the fundamental frequency of the self-heating current and the fundamental frequency of the drive current are staggered, the method comprising: When the fundamental frequency of the drive current is within a first frequency interval, controlling the fundamental frequency of the self-heating current to be the first frequency; When the fundamental frequency of the drive current is within a second frequency interval, controlling the fundamental frequency of the self-heating current to be a second frequency, where any frequency in the second frequency interval is greater than any frequency in the first frequency interval and the second frequency is less than the first frequency; Includes.

[0125] In some embodiments, in step 404, the fundamental frequency of the self-heating current is controlled based on the fundamental frequency of the drive current such that the fundamental frequency of the self-heating current and the fundamental frequency of the drive current are staggered, the method comprising: Controlling the fundamental frequency of the self-heating current based on the fundamental frequency of the drive current and a real-time condition such that the fundamental frequency of the self-heating current and the fundamental frequency of the drive current are staggered, the real-time condition including an acceleration condition or a deceleration condition. Includes.

[0126] In some embodiments, controlling the fundamental frequency of the self-heating current based on the fundamental frequency of the drive current and real-time conditions to stagger the fundamental frequency of the self-heating current and the fundamental frequency of the drive current includes: determining an expected rotation speed based on the degree of depression of the accelerator pedal under acceleration conditions or the degree of depression of the decelerator pedal under deceleration conditions, the expected rotation speed indicating the rotation speed of the motor corresponding to the vehicle speed that the driver expects to achieve; determining an expected frequency corresponding to the expected rotation speed according to the expected rotation speed; Controlling the self-heating current value and the fundamental frequency of the self-heating current based on a value relationship between the expected frequency and the plurality of preset frequencies and a value relationship between the fundamental frequency of the drive current and the plurality of preset frequencies in combination with real-time conditions; Includes.

[0127] In some embodiments, the plurality of preset frequencies includes a first preset frequency and a second preset frequency; Controlling the self-heating current value and the fundamental frequency of the self-heating current based on a value relationship between the expected frequency and the plurality of preset frequencies and a value relationship between the fundamental frequency of the drive current and the plurality of preset frequencies in combination with a real-time condition, When the expected frequency is equal to or less than a second preset frequency, in the process of increasing the fundamental frequency of the driving current to the expected frequency under an accelerating condition, controlling the self-heating current value to be a first current value and controlling the fundamental frequency of the self-heating current to be the first frequency; or When the expected frequency is greater than the second preset frequency, in the process of increasing the fundamental frequency of the driving current to a frequency less than the first preset frequency under an acceleration condition, controlling the self-heating current value to be a first current value, and controlling the fundamental frequency of the self-heating current to be the first frequency; In the process of increasing the fundamental frequency of the driving current from a first preset frequency to an expected frequency, controlling the self-heating current value to decrease from a first current value to a second current value, and controlling the fundamental frequency of the self-heating current to decrease from the first frequency to a second frequency, where the second current value is close to or equal to 0; Includes.

[0128] In some embodiments, after controlling the self-heating current value to decrease from a first current value to a second current value and controlling the fundamental frequency of the self-heating current to decrease from a first frequency to a second frequency, the method further comprises: determining whether a stable signal is received, the stable signal indicating that the second motor does not generate torque pulse ripple that oscillates back and forth; When a stable signal is received, controlling the self-heating current value to increase from the second current value to the first current value, and maintaining the fundamental frequency of the self-heating current at the second frequency; or When a stable signal is not received, the self-heating current value is maintained at a second current value, and the fundamental frequency of the self-heating current is maintained at a second frequency; after a stable signal is received, the self-heating current value is controlled to increase from the second current value to the first current value, and the fundamental frequency of the self-heating current is maintained at the second frequency. Further includes:

[0129] In some embodiments, the plurality of preset frequencies includes a first preset frequency and a second preset frequency; Controlling the self-heating current value and the fundamental frequency of the self-heating current based on a value relationship between the expected frequency and the plurality of preset frequencies and a value relationship between the fundamental frequency of the drive current and the plurality of preset frequencies in combination with a real-time condition, When the expected frequency is greater than a second preset frequency, in the process of the fundamental frequency of the driving current decreasing to the expected frequency under deceleration conditions, controlling the self-heating current value to be a first current value and controlling the fundamental frequency of the self-heating current to be a second frequency; or When the expected frequency is equal to or less than a second preset frequency, after the fundamental frequency of the driving current becomes smaller than the second preset frequency under a deceleration condition, controlling the self-heating current value to decrease from a first current value to a second current value, and controlling the fundamental frequency of the self-heating current to increase from the second frequency to the first frequency, where the second current value is close to or equal to 0. Includes.

[0130] In some embodiments, after controlling the self-heating current value to decrease from a first current value to a second current value and controlling the fundamental frequency of the self-heating current to increase from the second frequency to the first frequency, the method further comprises: determining whether a stable signal is received, the stable signal indicating that the second motor does not generate torque pulse ripple that oscillates back and forth; When a stable signal is received, controlling the self-heating current value to increase from the second current value to the first current value, and maintaining the fundamental frequency of the self-heating current at the first frequency; or When a stable signal is not received, the self-heating current value is maintained at a second current value and the fundamental frequency of the self-heating current is maintained at a first frequency; after a stable signal is received, the self-heating current value is controlled to increase from the second current value to the first current value and the fundamental frequency of the self-heating current is maintained at the first frequency; Further includes:

[0131] Unlike the method of steps 101 to 104, the method of steps 401 to 404 obtains the fundamental frequency of the driving current of the first motor. The fundamental frequency of the driving current of the first motor can be obtained by simple calculation based on the real-time rotation speed of the first motor. Similarly, the first rotation speed interval, second rotation speed interval, expected rotation speed, first preset rotation speed, and second preset rotation speed in the aforementioned steps can alternatively be calculated to obtain the corresponding first frequency interval, second frequency interval, expected frequency, first preset frequency, and second preset frequency. All other methods remain the same. Therefore, in the proposed method for suppressing vehicle vibration during battery self-heating based on the frequency dimension, please refer to the aforementioned method of steps 101 to 104 for a specific method for controlling the fundamental frequency of the self-heating current (i.e., equivalent to the fundamental frequency of self-heating in the method of steps 101 to 104). Further details are not provided.

[0132] In summary, the method for suppressing vehicle vibration during battery self-heating provided in the present disclosure first obtains the real-time rotation speed or fundamental frequency of the drive current of the first motor, and then controls the change in the fundamental frequency of the self-heating current based on the real-time rotation speed or fundamental frequency of the drive current so that the real-time rotation speed or fundamental frequency of the drive current of the second motor and the fundamental frequency of the self-heating cannot always satisfy a numerical relationship. In this case, the jitter of the second motor is eliminated, preventing the entire vehicle from vibrating, thereby improving the driving experience of the passengers and avoiding a shortened lifespan of the second motor.

[0133] Based on the method for suppressing vehicle vibration during self-heating of a battery, an embodiment of the present disclosure further proposes an apparatus for suppressing vehicle vibration during self-heating of a battery. Figure 5 is a block diagram of an apparatus for suppressing vehicle vibration during self-heating of a battery according to an embodiment of the present disclosure. The apparatus is applied to a vehicle including a power battery pack, a first motor, and a second motor, and the apparatus includes: a rotation control module 510 configured to control the power battery pack to output a drive current to the first motor to drive the first motor to rotate, the rotation control module 510 dragging the second motor to rotate when the first motor is rotating; a self-heating control module 520 configured to control the power battery pack to output a self-heating current to the second motor to self-heat the power battery; an acquisition module 530 configured to acquire a real-time rotation speed of the first motor; a frequency control module 540 configured to control the self-heating fundamental frequency based on the real-time rotation speed so as to stagger the fundamental frequency and the real-time rotation speed; Includes.

[0134] In some embodiments, the frequency control module 540 a first control unit configured to control the fundamental frequency to be the first frequency when the real-time rotation speed is within a first rotation speed interval; a second control unit configured to control the fundamental frequency to a second frequency when the real-time rotation speed is within a second rotation speed interval, wherein any rotation speed in the second rotation speed interval is greater than any rotation speed in the first rotation speed interval, and the second frequency is less than the first frequency; Includes.

[0135] In some embodiments, the frequency control module 540 a condition control frequency unit configured to control the fundamental frequency based on the real-time rotation speed and a real-time condition so as to stagger the fundamental frequency and the real-time rotation speed, the real-time condition including an acceleration condition or a deceleration condition; Includes.

[0136] In some embodiments, the condition control frequency unit: an expected rotation speed subunit configured to determine an expected rotation speed based on a depression degree of an accelerator pedal under an acceleration condition or a depression degree of a decelerator pedal under a deceleration condition, the expected rotation speed indicating a rotation speed of the motor corresponding to a vehicle speed that a driver expects to achieve; a condition control subunit configured to control the self-heating current value and the fundamental frequency based on a value relationship between the expected rotation speed and the plurality of preset rotation speeds and a value relationship between the real-time rotation speed and the plurality of preset rotation speeds in combination with a real-time condition; Includes.

[0137] In some embodiments, the plurality of preset rotational speeds includes a first preset rotational speed and a second preset rotational speed; The conditional control subunits are, in particular, When the expected rotation speed is equal to or lower than a second preset rotation speed, in the process of increasing the real-time rotation speed to the expected rotation speed under an accelerating condition, controlling the self-heating current value to be a first current value and controlling the fundamental frequency to be a first frequency; or When the expected rotation speed is greater than a second preset rotation speed, in a process in which the real-time rotation speed increases to a rotation speed smaller than the first preset rotation speed under an acceleration condition, the self-heating current value is controlled to be a first current value, and the fundamental frequency is controlled to be a first frequency; In the process of increasing the real-time rotation speed from a first preset rotation speed to an expected rotation speed, controlling the self-heating current value to decrease from a first current value to a second current value, and controlling the fundamental frequency to decrease from the first frequency to a second frequency, where the second current value is close to or equal to 0; The device is configured to:

[0138] In some embodiments, the conditional control subunit is, inter alia: determining whether a stable signal is received, the stable signal indicating that the second motor does not generate torque pulse ripple that oscillates back and forth; When a stable signal is received, controlling the self-heating current value to increase from the second current value to the first current value and maintaining the fundamental frequency at the second frequency; or When a stable signal is not received, the self-heating current value is maintained at a second current value and the fundamental frequency is maintained at a second frequency; after a stable signal is received, the self-heating current value is controlled to increase from the second current value to the first current value and the fundamental frequency is maintained at a second frequency. The device is further configured to:

[0139] In some embodiments, the plurality of preset rotational speeds includes a first preset rotational speed and a second preset rotational speed; The conditional control subunits are, in particular, When the expected rotation speed is greater than a second preset rotation speed, in the process of the real-time rotation speed decreasing to the expected rotation speed under deceleration conditions, controlling the self-heating current value to be a first current value and controlling the fundamental frequency to be a second frequency; or When the expected rotation speed is equal to or less than a second preset rotation speed, after the real-time rotation speed becomes smaller than the second preset rotation speed under a deceleration condition, control the self-heating current value to decrease from the first current value to a second current value, and control the fundamental frequency to increase from the second frequency to the first frequency, where the second current value is close to or equal to 0. The device is further configured to:

[0140] In some embodiments, the conditional control subunit is, inter alia: determining whether a stable signal is received, the stable signal indicating that the second motor does not generate torque pulse ripple that oscillates back and forth; When a stable signal is received, controlling the self-heating current value to increase from the second current value to the first current value and maintaining the fundamental frequency at the first frequency; or When a stable signal is not received, the self-heating current value is maintained at a second current value and the fundamental frequency is maintained at a first frequency; after a stable signal is received, the self-heating current value is controlled to increase from the second current value to the first current value and the fundamental frequency is maintained at the first frequency. The device is further configured to:

[0141] Corresponding to the method of steps 401 to 404, an embodiment of the present disclosure further provides another apparatus for suppressing vehicle vibration during self-heating of a battery. Fig. 6 is a block diagram of another apparatus for suppressing vehicle vibration during self-heating of a battery according to an embodiment of the present disclosure. The apparatus is applied to a vehicle including a power battery pack, a first motor, and a second motor, and the apparatus includes: a rotation and drag module 610 configured to control the power battery pack to output a drive current to the first motor to drive the first motor to rotate, wherein the rotation and drag module 610 drags the second motor to rotate when the first motor is rotating; a current self-heating module 620 configured to control the power battery pack to output a self-heating current to the second motor to self-heat the power battery; a drive fundamental frequency acquisition module 630 configured to acquire a fundamental frequency of a drive current of the first motor; a self-heating fundamental frequency control module 640 configured to control the fundamental frequency of the self-heating current based on the fundamental frequency of the drive current so as to stagger the fundamental frequency of the self-heating current and the fundamental frequency of the drive current; Includes.

[0142] In some embodiments, the self-heating fundamental frequency control module 640 a first unit configured to control a fundamental frequency of the self-heating current to be a first frequency when the fundamental frequency of the drive current is within a first frequency interval; a second unit configured to control the fundamental frequency of the self-heating current to be a second frequency when the fundamental frequency of the drive current is within a second frequency interval, wherein any frequency in the second frequency interval is greater than any frequency in the first frequency interval, and the second frequency is less than the first frequency; Includes.

[0143] In some embodiments, the self-heating fundamental frequency control module 640 a frequency staggering control unit configured to control a fundamental frequency of the self-heating current based on a fundamental frequency of the drive current and a real-time condition so as to stagger the fundamental frequency of the self-heating current and the fundamental frequency of the drive current, wherein the real-time condition includes an acceleration condition or a deceleration condition. Includes.

[0144] In some embodiments, the frequency staggering control unit: a condition and expected rotation speed subunit configured to determine an expected rotation speed based on a depression degree of an accelerator pedal under an acceleration condition or a depression degree of a decelerator pedal under a deceleration condition, the expected rotation speed indicating a rotation speed of the motor corresponding to a vehicle speed that a driver expects to achieve; an expected frequency determination subunit configured to determine an expected frequency corresponding to the expected rotation speed based on the expected rotation speed; a frequency staggering control subunit configured to control the self-heating current value and the fundamental frequency of the self-heating current based on a value relationship between the expected frequency and the plurality of preset frequencies and a value relationship between the fundamental frequency of the drive current and the plurality of preset frequencies in combination with a real-time condition; Includes.

[0145] In some embodiments, the plurality of preset frequencies includes a first preset frequency and a second preset frequency; The frequency staggering control sub-unit may, in particular: When the expected frequency is equal to or less than a second preset frequency, in the process of increasing the fundamental frequency of the driving current to the expected frequency under an accelerating condition, controlling the self-heating current value to be a first current value and controlling the fundamental frequency of the self-heating current to be the first frequency; or When the expected frequency is greater than the second preset frequency, in the process of increasing the fundamental frequency of the driving current to a frequency less than the first preset frequency under an acceleration condition, controlling the self-heating current value to be a first current value, and controlling the fundamental frequency of the self-heating current to be the first frequency; In the process of increasing the fundamental frequency of the driving current from a first preset frequency to an expected frequency, controlling the self-heating current value to decrease from a first current value to a second current value, and controlling the fundamental frequency of the self-heating current to decrease from the first frequency to a second frequency, where the second current value is close to or equal to 0; The device is configured to:

[0146] In some embodiments, the frequency staggering control subunit is particularly determining whether a stable signal is received, the stable signal indicating that the second motor does not generate torque pulse ripple that oscillates back and forth; When a stable signal is received, controlling the self-heating current value to increase from the second current value to the first current value, and maintaining the fundamental frequency of the self-heating current at the second frequency; or When a stable signal is not received, the self-heating current value is maintained at a second current value, and the fundamental frequency of the self-heating current is maintained at a second frequency; after a stable signal is received, the self-heating current value is controlled to increase from the second current value to the first current value, and the fundamental frequency of the self-heating current is maintained at the second frequency. The device is further configured to:

[0147] In some embodiments, the plurality of preset frequencies includes a first preset frequency and a second preset frequency; The frequency staggering control sub-unit may, in particular: When the expected frequency is greater than a second preset frequency, in the process of the fundamental frequency of the driving current decreasing to the expected frequency under deceleration conditions, controlling the self-heating current value to be a first current value and controlling the fundamental frequency of the self-heating current to be a second frequency; or When the expected frequency is equal to or less than a second preset frequency, after the fundamental frequency of the driving current becomes smaller than the second preset frequency under a deceleration condition, controlling the self-heating current value to decrease from a first current value to a second current value, and controlling the fundamental frequency of the self-heating current to increase from the second frequency to the first frequency, where the second current value is close to or equal to 0. The device is further configured to:

[0148] In some embodiments, the frequency staggering control subunit is particularly determining whether a stable signal is received, the stable signal indicating that the second motor does not generate torque pulse ripple that oscillates back and forth; When a stable signal is received, controlling the self-heating current value to increase from the second current value to the first current value, and maintaining the fundamental frequency of the self-heating current at the first frequency; or When a stable signal is not received, the self-heating current value is maintained at a second current value and the fundamental frequency of the self-heating current is maintained at a first frequency; after a stable signal is received, the self-heating current value is controlled to increase from the second current value to the first current value and the fundamental frequency of the self-heating current is maintained at the first frequency; The device is further configured to:

[0149] Based on the above-described method for suppressing vehicle vibration during battery self-heating, an embodiment of the present disclosure further proposes a vehicle, which includes a controller configured to execute the method for suppressing vibration of the entire vehicle during battery self-heating according to any one of steps 101 to 104, or the method for suppressing vehicle vibration during battery self-heating according to any one of steps 401 to 404.

[0150] Furthermore, it should be noted that relational terms such as first and second herein are used only to distinguish one entity or operation from another and do not necessarily require or imply that an actual relationship or order exists between those entities or operations. Furthermore, the terms "include," "comprise," and any variations thereof are intended to include non-exclusive inclusions. Thus, a process or method comprising a set of elements not only includes those elements, but may also include other elements not expressly specified or may include inherent elements of the process or method.

[0151] Although the embodiments of the present disclosure have been described above with reference to the accompanying drawings, the present disclosure is not limited to the specific implementation forms described above. The specific implementation forms described above are merely examples, not limitations. Under the understanding of the present disclosure, a person skilled in the art can make many forms without departing from the purpose of the present disclosure and the scope of protection of the claims, all of which fall within the protection of the present disclosure.

Claims

1. 1. A method for suppressing vehicle vibration during battery self-heating, the method being applied to a vehicle including a power battery pack, a first motor, and a second motor, the method comprising: controlling the power battery pack to output a driving current to the first motor to drive and rotate the first motor, wherein when the first motor is rotating, the second motor is dragged and rotated; controlling the power battery pack to output a self-heating current to the second motor to cause self-heating of the power battery; Obtaining a real-time rotation speed of the first motor; controlling a fundamental frequency of the self-heating current according to the real-time rotation speed so as to stagger the fundamental frequency and the real-time rotation speed; A method comprising:

2. controlling the fundamental frequency of the self-heating current according to the real-time rotation speed so as to stagger the fundamental frequency and the real-time rotation speed, When the real-time rotation speed is within a first rotation speed interval, controlling the fundamental frequency to be a first frequency; When the real-time rotation speed is within a second rotation speed interval, controlling the fundamental frequency to be a second frequency, wherein any rotation speed in the second rotation speed interval is greater than any rotation speed in the first rotation speed interval, and the second frequency is smaller than the first frequency; The method of claim 1 , comprising:

3. controlling the fundamental frequency of the self-heating current according to the real-time rotation speed so as to stagger the fundamental frequency and the real-time rotation speed, Controlling the fundamental frequency according to the real-time rotation speed and a real-time condition so as to stagger the fundamental frequency and the real-time rotation speed, wherein the real-time condition includes an acceleration condition or a deceleration condition.

3. The method of claim 1 or 2, comprising:

4. controlling the fundamental frequency according to the real-time rotation speed and a real-time condition so as to stagger the fundamental frequency and the real-time rotation speed, determining an expected rotation speed according to the degree of depression of an accelerator pedal under the acceleration condition or the degree of depression of a decelerator pedal under the deceleration condition, the expected rotation speed indicating the rotation speed of the motor corresponding to the vehicle speed that the driver expects to achieve; controlling the self-heating current value and the fundamental frequency in combination with the real-time conditions according to a value relationship between the expected rotation speed and a plurality of preset rotation speeds and a value relationship between the real-time rotation speed and the plurality of preset rotation speeds; The method of claim 3, comprising:

5. the plurality of preset rotational speeds include a first preset rotational speed and a second preset rotational speed; The control of the self-heating current value and the fundamental frequency in accordance with the real-time conditions and a value relationship between the expected rotation speed and a plurality of preset rotation speeds, and a value relationship between the real-time rotation speed and the plurality of preset rotation speeds, When the expected rotation speed is equal to or less than the second preset rotation speed, in a process in which the real-time rotation speed increases to the expected rotation speed under the acceleration condition, controlling the self-heating current value to be a first current value and controlling the fundamental frequency to be the first frequency; or When the expected rotation speed is greater than the second preset rotation speed, in a process in which the real-time rotation speed increases to a rotation speed smaller than the first preset rotation speed under the acceleration condition, controlling the self-heating current value to a first current value and controlling the fundamental frequency to the first frequency; In the process of increasing the real-time rotation speed from the first preset rotation speed to the expected rotation speed, controlling the self-heating current value to decrease from the first current value to a second current value, and controlling the fundamental frequency to decrease from the first frequency to the second frequency, wherein the second current value is close to or equal to 0; The method of claim 4, comprising:

6. After controlling the self-heating current value to decrease from the first current value to a second current value and controlling the fundamental frequency to decrease from the first frequency to the second frequency, determining whether a stable signal is received, the stable signal indicating that the second motor does not generate torque pulse ripple that oscillates back and forth; When the stable signal is received, controlling the self-heating current value to increase from the second current value to the first current value and maintaining the fundamental frequency at the second frequency; or When the stable signal is not received, maintaining the self-heating current value at the second current value and maintaining the fundamental frequency at the second frequency; and after the stable signal is received, controlling the self-heating current value to increase from the second current value to the first current value and maintaining the fundamental frequency at the second frequency. The method of claim 5 further comprising:

7. the plurality of preset rotational speeds include the first preset rotational speed and the second preset rotational speed, The control of the self-heating current value and the fundamental frequency in accordance with the real-time conditions and a value relationship between the expected rotation speed and a plurality of preset rotation speeds, and a value relationship between the real-time rotation speed and the plurality of preset rotation speeds, When the expected rotation speed is greater than the second preset rotation speed, in the process of the real-time rotation speed decreasing to the expected rotation speed under the deceleration condition, controlling the self-heating current value to be the first current value and controlling the fundamental frequency to be the second frequency; or When the expected rotation speed is equal to or less than the second preset rotation speed, after the real-time rotation speed becomes smaller than the second preset rotation speed under the deceleration condition, controlling the self-heating current value to decrease from the first current value to the second current value and controlling the fundamental frequency to increase from the second frequency to the first frequency, wherein the second current value is close to or equal to 0.

7. The method of claim 4, comprising:

8. After controlling the self-heating current value to decrease from the first current value to a second current value and controlling the fundamental frequency to increase from the second frequency to the first frequency, determining whether the stable signal is received, the stable signal indicating that the second motor does not generate the torque pulse ripple that oscillates back and forth; When the stable signal is received, controlling the self-heating current value to increase from the second current value to the first current value and maintaining the fundamental frequency at the first frequency; or When the stable signal is not received, maintaining the self-heating current value at the second current value and maintaining the fundamental frequency at the first frequency; and after the stable signal is received, controlling the self-heating current value to increase from the second current value to the first current value and maintaining the fundamental frequency at the first frequency. The method of claim 7 further comprising:

9. 9. The method of claim 5, wherein the first preset rotational speed value and the second preset rotational speed value are determined by the first frequency, the second frequency, and a number of pole pairs of the motor.

10. 10. The method according to claim 1, wherein the first motor is a synchronous motor or an asynchronous motor and the second motor is an asynchronous motor.

11. 1. A method for suppressing vehicle vibration during battery self-heating, the method being applied to a vehicle including a power battery pack, a first motor, and a second motor, the method comprising: controlling the power battery pack to output a driving current to the first motor to drive and rotate the first motor, wherein when the first motor is rotating, the second motor is dragged and rotated; controlling the power battery pack to output a self-heating current to the second motor to cause self-heating of the power battery; Obtaining a fundamental frequency of the drive current of the first motor; controlling a fundamental frequency of the self-heating current according to the fundamental frequency of the drive current such that the fundamental frequency of the self-heating current and the fundamental frequency of the drive current are staggered; A method comprising:

12. controlling the fundamental frequency of the self-heating current according to the fundamental frequency of the drive current such that the fundamental frequency of the self-heating current and the fundamental frequency of the drive current are staggered includes: When the fundamental frequency of the drive current is within a first frequency interval, controlling the fundamental frequency of the self-heating current to be a first frequency; controlling the fundamental frequency of the self-heating current to be a second frequency when the fundamental frequency of the drive current is within a second frequency interval, wherein any frequency in the second frequency interval is greater than any frequency in the first frequency interval, and the second frequency is less than the first frequency; The method of claim 11 , comprising:

13. controlling the fundamental frequency of the self-heating current according to the fundamental frequency of the drive current such that the fundamental frequency of the self-heating current and the fundamental frequency of the drive current are staggered includes: controlling the fundamental frequency of the self-heating current according to the fundamental frequency of the drive current and a real-time condition such that the fundamental frequency of the self-heating current and the fundamental frequency of the drive current are staggered, the real-time condition including an acceleration condition or a deceleration condition.

13. The method of claim 11 or 12, comprising:

14. controlling the fundamental frequency of the self-heating current according to the fundamental frequency of the drive current and real-time conditions so as to stagger the fundamental frequency of the self-heating current and the fundamental frequency of the drive current includes: determining an expected rotation speed according to the degree of depression of an accelerator pedal under the acceleration condition or the degree of depression of a decelerator pedal under the deceleration condition, the expected rotation speed indicating the rotation speed of the motor corresponding to the vehicle speed that the driver expects to achieve; determining an expected frequency corresponding to the expected rotation speed according to the expected rotation speed; controlling a self-heating current value and the fundamental frequency of the self-heating current in combination with the real-time condition according to a value relationship between the expected frequency and a plurality of preset frequencies and a value relationship between the fundamental frequency of the drive current and the plurality of preset frequencies; 14. The method of claim 13, comprising:

15. the plurality of preset frequencies includes a first preset frequency and a second preset frequency; controlling the self-heating current value and the fundamental frequency of the self-heating current in combination with the real-time condition according to a value relationship between the expected frequency and a plurality of preset frequencies and a value relationship between the fundamental frequency of the drive current and the plurality of preset frequencies, If the expected frequency is equal to or less than the second preset frequency, in the process of increasing the fundamental frequency of the drive current to the expected frequency under the acceleration condition, controlling the self-heating current value to a first current value and controlling the fundamental frequency of the self-heating current to the first frequency; or When the expected frequency is greater than the second preset frequency, in a process in which the fundamental frequency of the driving current increases to a frequency less than the first preset frequency under the acceleration condition, controlling the self-heating current value to a first current value and controlling the fundamental frequency of the self-heating current to the first frequency; In the process of increasing the fundamental frequency of the driving current from the first preset frequency to the expected frequency, controlling the self-heating current value to decrease from the first current value to a second current value, and controlling the fundamental frequency of the self-heating current to decrease from the first frequency to the second frequency, wherein the second current value is close to or equal to 0; 15. The method of claim 14, comprising:

16. After controlling the self-heating current value to decrease from the first current value to a second current value and controlling the fundamental frequency of the self-heating current to decrease from the first frequency to the second frequency, determining whether a stable signal is received, the stable signal indicating that the second motor does not generate torque pulse ripple that oscillates back and forth; When the stable signal is received, controlling the self-heating current value to increase from the second current value to the first current value, and maintaining the fundamental frequency of the self-heating current at the second frequency; or when the stable signal is not received, maintaining the self-heating current value at the second current value and maintaining the fundamental frequency of the self-heating current at the second frequency; and after the stable signal is received, controlling the self-heating current value to increase from the second current value to the first current value and maintaining the fundamental frequency of the self-heating current at the second frequency.

16. The method of claim 15, further comprising:

17. the plurality of preset frequencies include the first preset frequency and the second preset frequency; controlling the self-heating current value and the fundamental frequency of the self-heating current in combination with the real-time condition according to a value relationship between the expected frequency and a plurality of preset frequencies and a value relationship between the fundamental frequency of the drive current and the plurality of preset frequencies, If the expected frequency is greater than the second preset frequency, in the process of the fundamental frequency of the drive current decreasing to the expected frequency under the deceleration condition, controlling the self-heating current value to be the first current value and controlling the fundamental frequency of the self-heating current to be the second frequency; or If the expected frequency is equal to or less than the second preset frequency, after the fundamental frequency of the drive current becomes smaller than the second preset frequency under the deceleration condition, controlling the self-heating current value to decrease from the first current value to the second current value and controlling the fundamental frequency of the self-heating current to increase from the second frequency to the first frequency, wherein the second current value is close to or equal to 0.

17. The method of any one of claims 14 to 16, comprising:

18. After controlling the self-heating current value to decrease from the first current value to a second current value and controlling the fundamental frequency of the self-heating current to increase from the second frequency to the first frequency, determining whether the stable signal is received, the stable signal indicating that the second motor does not generate the torque pulse ripple that oscillates back and forth; When the stable signal is received, controlling the self-heating current value to increase from the second current value to the first current value, and maintaining the fundamental frequency of the self-heating current at the first frequency; or when the stable signal is not received, maintaining the self-heating current value at the second current value and maintaining the fundamental frequency of the self-heating current at the first frequency; and after the stable signal is received, controlling the self-heating current value to increase from the second current value to the first current value and maintaining the fundamental frequency of the self-heating current at the first frequency.

20. The method of claim 17, further comprising:

19. An apparatus for suppressing vehicle vibration during self-heating of a battery, the apparatus being applied to a vehicle including a power battery pack, a first motor, and a second motor, the apparatus comprising: a rotation control module configured to control the power battery pack to output a drive current to the first motor to drive and rotate the first motor, wherein the rotation control module drags and rotates the second motor when the first motor is rotating; a self-heating control module configured to control the power battery pack to output a self-heating current to the second motor to cause self-heating of a power battery; an acquisition module configured to acquire a real-time rotation speed of the first motor; a frequency control module configured to control a fundamental frequency of the self-heating current according to the real-time rotation speed so as to stagger the fundamental frequency and the real-time rotation speed; An apparatus comprising:

20. An apparatus for suppressing vehicle vibration during self-heating of a battery, the apparatus being applied to a vehicle including a power battery pack, a first motor, and a second motor, the apparatus comprising: a rotation and drag module configured to control the power battery pack to output a drive current to the first motor to drive the first motor to rotate, the rotation and drag module dragging the second motor to rotate when the first motor is rotating; a current self-heating module configured to control the power battery pack to output a self-heating current to the second motor to self-heat a power battery; a drive fundamental frequency acquisition module configured to acquire a fundamental frequency of the drive current of the first motor; a self-heating fundamental frequency control module configured to control a fundamental frequency of the self-heating current according to the fundamental frequency of the drive current such that the fundamental frequency of the self-heating current and the fundamental frequency of the drive current are staggered; An apparatus comprising:

21. 10. Configured to carry out a method for suppressing vehicle vibrations during battery self-heating according to any one of claims 1 to 9; or A vehicle comprising a controller configured to perform the method for suppressing vehicle vibrations during battery self-heating according to any one of claims 11 to 18.

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