Vibration suppression method and system, computer readable storage medium, and vehicle

Abstract

A vibration suppression method and system, a computer readable storage medium, and a vehicle. The method comprises: S100, acquiring a vibration signal of a motor (100) and / or a device where the motor (100) is located; S200, when it is determined that the vibration amplitude of the vibration signal is greater than a first threshold, executing a damping operation, wherein the first threshold is the amplitude of said device under the condition of vibration; S300, acquiring motion parameters of the motor (100) and corresponding preset values, wherein the motion parameters represent attribute values of the motor (100) in different states, and different motion parameters correspond to different preset values; and S400, on the basis of a magnitude relationship between each motion parameter and the corresponding preset value, determining the magnitude of a target direct axis current for adjusting and controlling the motor (100), so as to slow down the vibration of the motor (100) and said device. The method can improve the stability of the motor (100) and reduce the calculation complexity of performing stabilization operation on the motor (100).

Description

Jitter suppression method and system, computer readable storage medium, vehicle

[0001] Related applications

[0002] This application claims priority to Chinese patent application No. 202410088867.0 filed on January 22, 2024, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of motor control technology, and in particular to a vibration suppression method, a computer-readable storage medium, a vibration suppression system, and a vehicle. Background Art

[0004] With the rapid development of the automobile industry, the number of new energy vehicles has increased sharply, among which electric vehicles are becoming more and more popular.

[0005] The transmission system of electric vehicles is basically a rigid connection. Due to reasons such as transmission system resonance, changes in mechanical load, and changes in vehicle adhesion, the motor speed will fluctuate and the vibration cannot be blocked or absorbed. It is coupled to the vehicle body through the housing, suspension, etc., affecting driving comfort.

[0006] Summary of the Invention

[0007] In view of this, the embodiments of the present application provide a jitter suppression method, a computer-readable storage medium, a jitter suppression system and a vehicle to solve at least one problem existing in the background technology, thereby improving the stability of the motor and the equipment in which the motor is located, and reducing the computational complexity of stabilizing the motor jitter operation.

[0008] To achieve the above objectives, the technical solution of this application is implemented as follows:

[0009] On the one hand, an embodiment of the present application provides a method for jitter suppression. The method includes: obtaining a jitter signal of a motor and / or a device where the motor is located. When it is determined that the jitter amplitude of the jitter signal is greater than a first threshold, a shock absorption operation is performed; the first threshold is the amplitude when the device where the motor is located is jittering. The motion parameters of the motor and the corresponding preset values ​​are obtained; the motion parameters represent the property values ​​of the motor in different states, and different motion parameters correspond to different preset values. According to the size relationship between the motion parameters and the corresponding preset values, the size of the direct-axis current of the motor is determined to be adjusted to control the jitter of the motor and / or the device where the motor is located, so as to reduce the jitter of the motor and / or the device where the motor is located.

[0010] In some embodiments, the motion parameters of the motor include one or more of: a speed value of the motor, a bus voltage driving the motor, a maximum speed peak value within a sampling period, a minimum bus voltage peak value within a sampling period, a direct-axis current value, and a maximum peak value of the absolute value of the direct-axis current within a sampling period. The preset values ​​include one or more of: an average speed value, an average bus voltage value, a speed reference value, a bus voltage reference value, an average direct-axis current value, and a direct-axis current reference value.

[0011] In some embodiments, the magnitude of the direct-axis current of the motor is determined and regulated based on the magnitude relationship between the motion parameter and the corresponding preset value, including: the acquired motion parameter includes the speed value of the motor, and the corresponding preset value includes the average speed value. The average speed value is the value of the speed corresponding to the current moment in the smoothed speed signal. The larger one between the speed value and the average speed value is determined as the reference speed value. A lookup table is preset, and the lookup table includes a mapping relationship between the speed value and the direct-axis current. The direct-axis current corresponding to the reference speed value is searched in the preset lookup table, and the magnitude of the direct-axis current is determined to be the target direct-axis current for the current regulation and control of the motor.

[0012] In some embodiments, the magnitude of the direct-axis current for regulating and controlling the motor is determined based on the magnitude relationship between the motion parameter and the corresponding preset value, including: the acquired motion parameter includes the bus voltage for driving the motor, and the corresponding preset value includes the average value of the bus voltage; the average value of the bus voltage is the value of the smoothed bus voltage signal corresponding to the bus voltage at the current moment. The smaller of the bus voltage for driving the motor and the average value of the bus voltage is determined as the reference bus voltage. A lookup table is preset, and the lookup table includes a mapping relationship between the bus voltage and the direct-axis current. The direct-axis current corresponding to the reference bus voltage is searched in the preset lookup table, and the magnitude of the direct-axis current is determined to be the target direct-axis current for currently regulating and controlling the motor.

[0013] In some embodiments, the magnitude of the direct-axis current of the motor is determined and regulated based on the magnitude relationship between the motion parameter and the corresponding preset value, including: the acquired motion parameter includes the maximum peak speed within the sampling period, and the corresponding preset value includes the speed reference value; the speed reference value is the maximum peak speed within the sampling period before the current sampling period during the operation of the motor. The larger one of the maximum peak speed within the sampling period and the speed reference value is determined as the referenceable speed value within the current sampling period. A lookup table is preset, and the lookup table includes a mapping relationship between the speed value and the direct-axis current. The direct-axis current corresponding to the referenceable speed value is searched in the preset lookup table, and the magnitude of the direct-axis current is determined to be the target direct-axis current for the current regulation and control of the motor.

[0014] In some embodiments, the magnitude of the direct-axis current of the motor is determined and regulated based on the magnitude relationship between the motion parameter and the corresponding preset value, including: the acquired motion parameter includes the minimum peak value of the bus voltage within the sampling period, and the corresponding preset value includes the bus voltage reference value; the bus voltage reference value is the minimum peak value of the bus voltage in the sampling period before the current sampling period during the operation of the motor. The smaller of the minimum peak value of the bus voltage within the sampling period and the bus voltage reference value is determined as the referenceable bus voltage in the current sampling period. A lookup table is preset, and the lookup table includes a mapping relationship between the bus voltage and the direct-axis current. The direct-axis current corresponding to the referenceable bus voltage is searched in the preset lookup table, and the magnitude of the direct-axis current is determined to be the target direct-axis current for the current regulation and control of the motor.

[0015] In some embodiments, the magnitude of the direct-axis current of the motor is determined and regulated based on the magnitude relationship between the motion parameter and the corresponding preset value, including: the acquired motion parameter includes the direct-axis current value, and the corresponding preset value includes the average value of the direct-axis current within the sampling period of the current speed of the motor. The average value of the direct-axis current is the value of the direct-axis current corresponding to the current moment in the smoothed direct-axis current signal. A lookup table is preset, and the lookup table includes a mapping relationship between the speed and the direct-axis current. The direct-axis current value corresponding to the current speed of the motor and the corresponding average value of the direct-axis current are obtained from the preset lookup table. The one with the larger absolute value between the direct-axis current and the average value of the direct-axis current is determined as the updated direct-axis current, and the lookup table is updated; the updated direct-axis current is the target direct-axis current for the current regulation and control of the motor.

[0016] In some embodiments, the magnitude of the direct-axis current for regulating and controlling the motor is determined based on the magnitude relationship between the motion parameter and the corresponding preset value, including: the acquired motion parameter includes the maximum peak value of the absolute value of the direct-axis current within the sampling period, and the corresponding preset value includes the direct-axis current reference value; the direct-axis current reference value is the maximum peak value of the absolute value of the direct-axis current within the sampling period before the current sampling period during the operation of the motor. A lookup table is preset, and the lookup table includes a mapping relationship between speed and direct-axis current. The maximum peak value of the absolute value of the direct-axis current within the sampling period corresponding to the current speed of the motor and the direct-axis current reference value are obtained from the preset lookup table. The larger of the maximum peak value of the absolute value of the direct-axis current within the sampling period and the direct-axis current reference value is determined as the updated direct-axis current, and the lookup table is updated; the updated direct-axis current is the target direct-axis current for currently regulating and controlling the motor.

[0017] In some embodiments, obtaining a motor jitter signal includes obtaining a motor speed signal, using a first filter to obtain the jitter signal of the speed signal within a certain frequency range; the frequency range is the frequency range when the motor emits the jitter signal; the jitter signal includes the frequency and amplitude of the motor speed jitter.

[0018] In some embodiments, acquiring the vibration signal of the motor further includes: filtering the vibration signal using a second filter to obtain a smooth vibration amplitude signal within the frequency range.

[0019] In the above-mentioned jitter suppression method, it is first determined whether the motor and / or the device where the motor is located is jittering, and by comparing the jitter amplitude of the jitter signal with the first threshold value, when the jitter amplitude of the jitter signal is greater than the first threshold value, it is confirmed that the motor is continuously jittering, thereby reducing the influence of accidental factors, reducing power consumption, and taking shock absorption operations for the jitter of the motor and / or the device where the motor is located. By obtaining different motion parameters of the motor and the corresponding preset values, and determining the magnitude of the direct-axis current of the motor for adjusting and controlling the motor through the magnitude relationship between the motion parameters and the corresponding preset values, the probability of jitter of the motor and the device where the motor is located can be reduced or the jitter of the motor and the device where the motor is located can be slowed down. Moreover, the parameters involved in this calculation process and the method for obtaining the parameters are simple and fast, and can adjust and control the direct-axis current of the motor in real time, thereby improving the user experience. In addition, compared with the method of adopting a shock-absorbing structure, the application scenario and method based on the present application reduce manufacturing costs.

[0020] In another aspect, the present application provides a computer-readable storage medium comprising a stored computer program, which, when executed, controls a device containing the computer-readable storage medium to execute the jitter suppression method described in any of the above embodiments.

[0021] The technical effect achieved by this embodiment is the same as the technical effect achieved by the jitter suppression method provided by any of the above embodiments, and will not be repeated here.

[0022] On the other hand, the present application provides a jitter suppression system. The jitter suppression system includes: a motor and a motor controller. The motor is used to drive the device where the motor is located to operate under the control of the bus voltage. The motor controller is coupled to the motor and / or the device where the motor is located, and is used to obtain the jitter signal of the motor; and is used to determine the size of the direct-axis current of the motor according to the relationship between the acquired motion parameters of the motor and the corresponding preset value when the jitter amplitude of the jitter signal is greater than the first threshold; and is used to adjust the size of the magnetic field where the motor is located based on the target direct-axis current to reduce the jitter of the motor and the device where the motor is located. Wherein, the motion parameters represent the property values ​​of the motor in different states, and different motion parameters correspond to different preset values.

[0023] In some embodiments, the motor controller includes: a sensor unit, a filtering unit, a computing unit, and an output unit. The sensor unit is coupled to the motor and configured to collect a speed signal of the motor. The filtering unit is coupled to the sensor unit and configured to filter the speed signal to obtain the jitter signal within a first frequency range. The computing unit is coupled to the filtering unit and receives the jitter signal; the computing unit is configured to determine a magnitude relationship between the jitter amplitude of the jitter signal and a first threshold, and to determine, when the jitter amplitude is greater than the first threshold, a magnitude relationship between the acquired motion parameters of the motor and the corresponding preset value to adjust and control the target direct-axis current of the motor. The output unit is coupled to the computing unit and the motor and configured to transmit the target direct-axis current to the motor and adjust the state of the motor under the action of the target direct-axis current to reduce the jitter of the motor and the device in which the motor is located.

[0024] In some embodiments, the filtering unit includes a first filter configured to filter the rotation speed signal to obtain the jitter signal within a first frequency range.

[0025] In some embodiments, the filtering unit further includes a second filter configured to perform secondary filtering on the jitter signal to obtain a smoothed jitter amplitude signal within a first frequency range.

[0026] The technical effect achieved by this embodiment is the same as the technical effect achieved by the jitter suppression method provided by any of the above embodiments, and will not be repeated here.

[0027] In another aspect, the present application provides a vehicle. The vehicle includes a vibration suppression system and a transmission system as provided in any of the above embodiments. The transmission system is configured to move under the drive of the vibration suppression system to reduce vibration of the vehicle.

[0028] The technical effects achieved by this embodiment are the same as those achieved by the vibration suppression system provided by any of the above embodiments, and will not be repeated here. In addition, the vibration reduction effect based on the motor can reduce vehicle vibration and improve the user experience during vehicle use.

[0029] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] FIG1 is a schematic cross-sectional view of a motor provided in one embodiment of the present application;

[0031] FIG2 is a schematic diagram of a flow chart of a jitter suppression method provided in an embodiment of the present application;

[0032] FIG3 is another schematic flow chart of a jitter suppression method provided in an embodiment of the present application;

[0033] FIG4 is a schematic diagram of a flow chart of a jitter suppression method provided in an embodiment of the present application;

[0034] FIG5 is a schematic diagram of obtaining the average speed value and the maximum speed peak value within a sampling period of the motor speed according to an embodiment of the present application;

[0035] FIG6 is a schematic diagram of a flow chart of a jitter suppression method provided in an embodiment of the present application;

[0036] FIG7 is a schematic diagram of the values ​​of the average bus voltage and the minimum bus voltage peak value within a sampling period of the motor bus voltage according to an embodiment of the present application;

[0037] FIG8 is a schematic diagram of a flow chart of a jitter suppression method provided in an embodiment of the present application;

[0038] FIG9 is a schematic diagram of a flow chart of a jitter suppression method provided in an embodiment of the present application;

[0039] FIG10 is a schematic diagram of a flow chart of a jitter suppression method provided in an embodiment of the present application;

[0040] FIG11 is a schematic diagram of obtaining the average value of the direct-axis current and the maximum peak value of the absolute value of the direct-axis current within a sampling period of the direct-axis current of the control motor according to an embodiment of the present application;

[0041] FIG12 is a schematic diagram of a flow chart of a jitter suppression method provided in an embodiment of the present application;

[0042] FIG13 is a schematic structural diagram of a jitter suppression system provided in one embodiment of the present application;

[0043] FIG14 is another structural diagram of a jitter suppression system provided in one embodiment of the present application;

[0044] FIG15 is a schematic diagram of another structure of a jitter suppression system provided in an embodiment of the present application;

[0045] FIG16 is a schematic structural diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] The embodiments disclosed herein will be described in more detail below with reference to the accompanying drawings. Although the accompanying drawings illustrate embodiments of the present application, it should be understood that the present application can be implemented in various forms and should not be limited by the specific embodiments described herein. Rather, these embodiments are provided to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

[0047] In the following description, numerous specific details are provided to provide a more thorough understanding of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced without one or more of these details. In other instances, certain technical features known in the art are not described to avoid confusion with the present application; that is, all features of actual embodiments are not described herein, nor are well-known functions and structures described in detail.

[0048] In the drawings, the sizes of layers, regions, elements and their relative sizes may be exaggerated for clarity. Like reference numerals denote like elements throughout.

[0049] It should be understood that when an element or layer is referred to as being "connected to" or "coupled to" another element or layer, it can be directly on, adjacent to, connected to, or coupled to the other element or layer, or there can be an intervening element or layer. It should be understood that although the terms first, second, third, etc. can be used to describe various elements, components, areas, layers, and / or parts, these elements, components, areas, layers, and / or parts should not be limited by these terms. These terms are merely used to distinguish one element, component, area, layer, or part from another element, component, area, layer, or part. Therefore, without departing from the teachings of the present application, the first element, component, area, layer, or part discussed below can be represented as a second element, component, area, layer, or part. And when the second element, component, area, layer, or part is discussed, it does not mean that the present application necessarily has the first element, component, area, layer, or part.

[0050] The purpose of the terms used herein is only to describe specific embodiments and is not intended to limit the present application. When used herein, the singular forms "a", "an", and "the" are intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "comprising" and / or "including", when used in this specification, determine the presence of the features, integers, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, parts and / or groups. When used herein, the term "and / or" includes any and all combinations of the relevant listed items.

[0051] In order to fully understand the present application, detailed steps and detailed structures will be presented in the following description to illustrate the technical solution of the present application. The preferred embodiments of the present application are described in detail below. However, in addition to these detailed descriptions, the present application may also have other implementation methods.

[0052] With the increasing popularity of new energy vehicles, permanent magnet synchronous motors (PMSMs), particularly electric vehicles, are being widely used due to their high power density, compact size, and high control precision. Because electric vehicles lack torsional vibration dampers between the motor and wheels, as found on traditional internal combustion engines, vibrations in the drivetrain cannot be blocked or absorbed. These vibrations are then coupled to the vehicle body through the housing and suspension. Furthermore, during driving, low-frequency jitter in the motor speed (related to the vehicle's natural frequency) can occur due to drivetrain resonance, changes in mechanical load, and variations in vehicle adhesion.

[0053] It can be understood that natural frequency refers to the specific frequency at which a structural system naturally vibrates when subjected to external excitation. This specific frequency is called the structure's natural frequency, and a structure typically has multiple natural frequencies. Natural frequency is independent of external excitation and is an inherent property of the structure. A structure's natural frequency exists regardless of external excitation; it simply vibrates at this frequency when excitation is applied. Therefore, only mass and stiffness influence natural frequency, and any other factors ultimately affect these two factors.

[0054] The transmission system of an electric vehicle differs from that of a traditional vehicle. Electric vehicles lack a clutch or traditional gearbox, only a single speed reducer. Their transmission system is essentially a rigid connection, with significant gaps between gears, and the traction motor itself has a relatively small moment of inertia. Due to these characteristics, when an electric vehicle starts, coasts, or travels within a certain speed range, the motor torque can suddenly jump and fluctuate widely, causing elastic deformation of the transmission system. Alternatively, the gears of the internal transmission mechanism can collide during motor rotation, triggering cyclical jitter in the motor's speed, causing vehicle vibration and impacting driving comfort.

[0055] For example, the aforementioned vibration typically occurs within a specific low-frequency range, and the vibration frequency is related to the mechanical characteristics of the vehicle. This can be manifested by the vibration component of the motor speed.

[0056] Based on this, combined with the jitter of torque and speed in vehicle motor control, it will cause the weak magnetic current to jitter, which in turn affects the stability of weak magnetic control and may even cause the controller to lose control. How to adjust the weak magnetic current to slow down the motor jitter and improve the stability of the motor and the equipment where the motor is located is an important development trend.

[0057] To this end, embodiments of the present application provide a jitter suppression method, a computer-readable storage medium, a jitter suppression system, and a vehicle, which can reduce motor jitter by adjusting the weak magnetic current and improve the stability of the motor and the equipment in which the motor is located.

[0058] It is understandable that the motor provided in the embodiment of the present application is illustrated by taking the permanent magnet synchronous motor 100 (as shown in FIG1 ) as an example, and does not limit the type of motor, and the principle of the jitter suppression method can be applied. For example, as shown in FIG1 , the permanent magnet synchronous motor 100 is composed of components such as a stator 101, a rotor 102 and an end cover. The stator is stacked with laminations to reduce the iron loss generated when the motor is running, and a three-phase AC winding is installed therein, which is called an armature. The rotor 102 can be made into a solid form or can be pressed from laminations, on which a permanent magnet material is installed. Depending on the position of the permanent magnet material on the rotor 102 of the motor 100, the permanent magnet synchronous motor can be divided into two structural forms: protruding and built-in. This application does not specifically limit the motor structure. The motor 100 shown in FIG1 is a protruding motor.

[0059] In some embodiments, as shown in FIG. 2 to FIG. 12 , embodiments of the present application provide a jitter suppression method S100 to S400 .

[0060] S100: Obtain a vibration signal of the motor 100 or the device where the motor 100 is located. For example, the vibration signal includes the frequency and amplitude of the vibration of the motor 100 or the device where the motor is located.

[0061] In some embodiments, as shown in FIG. 2 , S100 includes S110 and S120 .

[0062] S110 : Acquire a rotation speed signal of the motor 100 . The jitter signal (eg, the rotation speed signal) includes the frequency and amplitude of the rotation speed jitter of the motor 100 .

[0063] The vehicle motor 100 uses a rotary transformer. The motor 100 speed signal is collected by the rotary transformer and decoded and processed by the motor controller.

[0064] S120: Using a first filter, obtaining a jitter signal of the speed signal within a certain frequency range. The frequency range is a frequency range when the motor 100 emits a jitter signal.

[0065] After filtering out the jitter signal within a certain frequency range from the speed signal, it is possible to determine whether the motor 100 actually jitters based on the properties of the jitter signal, so as to determine whether the damping operation provided in subsequent embodiments is performed.

[0066] The first filter includes a bandpass filter. The frequency range of the passband of the bandpass filter is the frequency range when the motor 100 emits a jitter signal, so as to obtain a jitter signal within a certain frequency range. For example, after obtaining the speed signal of the motor, the speed jitter component (i.e., the jitter signal) in the motor speed signal is directly extracted by bandpass filtering. The jitter signal includes frequency, amplitude and phase information. Bandpass filtering can simultaneously eliminate high-frequency errors and low-frequency errors in the speed information, and obtain a jitter signal with fluctuation information. For example, the first filter filters out jitter signals with a frequency of 3Hz to 12Hz.

[0067] It should be noted that the bandwidth of the bandpass filter is determined by the numerical value of the motor's vibration frequency. Setting the center frequency of the bandpass filter to the motor's vibration frequency can make the filtered waveform a motor speed vibration component that fluctuates steadily above and below the vibration frequency. For example, the motor's vibration frequency is set to the center frequency of the bandpass filter device; the collected motor speed signal is passed to the above-mentioned bandpass filter device for filtering to obtain the speed vibration component. Using the motor's vibration frequency as the center frequency of the bandpass filter device can eliminate interference while obtaining a comprehensive speed vibration component. The motor vibration frequency here is a fixed frequency value after the motor is manufactured, which is mainly related to the motor's own characteristics and transmission structure.

[0068] In some embodiments, as shown in FIG. 2 , S100 further includes S130 : filtering the jitter signal using a second filter to obtain a jitter amplitude signal that is smooth within a frequency range.

[0069] The second filter includes a low-pass filter.

[0070] Because the fluctuation signal obtained after bandpass filtering is not necessarily stable near zero, it may also include portions of the motor's constant speed and linear speed variations. Therefore, a low-pass filter is used to stabilize the fluctuation information after bandpass filtering around zero. This fluctuation information is the filtered jitter component. Vibration reduction based on the calibrated speed jitter component helps improve anti-shake effectiveness.

[0071] It can be understood that when using the first filter and the second filter, the absolute value of the signal after filtering by the first filter can be taken instead of the absolute value, and the absolute value can be taken after filtering by the second filter; or the absolute value of the signal after filtering by the first filter can be taken, and the signal after taking the absolute value can be filtered by the second filter.

[0072] In addition, when the speed of motor 100 is higher, the influence of the constant speed part of motor 100 on the jitter component is greater. When the speed of motor 100 is lower, since the interference of the constant speed part of motor 100 is smaller, it can be directly calculated based on the fluctuation information after the bandpass filter, eliminating the low-pass filter and simplifying the calculation steps.

[0073] S200: If it is determined that the vibration amplitude of the vibration signal is greater than a first threshold, a vibration reduction operation is performed. The first threshold is the amplitude of the vibration of the device where the motor is located.

[0074] It's understandable that the greater the jitter amplitude of the jitter signal, the greater the motor's jitter. When the motor's jitter reaches a certain level, it will be reflected on the device where the motor is located, causing the device to vibrate. Therefore, the "first threshold" refers to the motor's jitter amplitude when "jitter" is reflected on the device where the motor is located.

[0075] Also, considering that different motor 100 models or structures can be used in different devices (such as vehicles with different structures), the motor speed amplitude values ​​when different devices exhibit "shaking" can be different. The first threshold is not limited to a specific value here and can be set according to different application scenarios of the motor.

[0076] In this way, when the jitter amplitude of the jitter signal is greater than the first threshold, it is necessary to perform a jitter reduction operation on the device where the motor is located to improve the user comfort of the device where the motor is located.

[0077] When a shock reduction operation is required, the method provided in the subsequent embodiments (such as S300 and S400) is executed; if a shock reduction operation is not required, the above step S200 can reduce the power consumption of the shock reduction operation due to detection errors and improve the application performance of the motor jitter suppression method.

[0078] S300: As shown in Figure 3, obtain the motion parameters and corresponding preset values ​​of the motor 100. The motion parameters represent the property values ​​of the motor in different states, and different motion parameters correspond to different preset values.

[0079] In some embodiments, the motion parameters of the motor 100 include: a speed value Speed, a bus voltage Vdc driving the motor 100, a maximum speed peak Speed_max within a sampling period, a minimum bus voltage peak Vdc_min within a sampling period, a direct-axis current value Id, and a maximum peak value Id_max of the absolute value of the direct-axis current within a sampling period.

[0080] The preset values ​​include: one or more of a speed average value Speed_avg, a bus voltage average value Vdc_avg, a speed reference value Speed_ref, a bus voltage reference value Vdc_ref, a direct-axis current average value Id_avg, and a direct-axis current reference value Id_ref.

[0081] For example, the motion parameters used in the subsequent embodiments include the speed value Speed ​​of the motor, and the corresponding preset value includes the average speed value Speed_avg. Alternatively, the motion parameters include the bus voltage Vdc that drives the motor 100. The corresponding preset value includes the average bus voltage value Vdc_avg. Alternatively, the motion parameters include the maximum peak speed value Speed_max within a sampling period, and the corresponding preset value includes the speed reference value Speed_ref. Alternatively, the motion parameters include the minimum peak bus voltage value Vdc_min within the sampling period, and the corresponding preset value includes the bus voltage reference value Vdc_ref. Alternatively, the motion parameters include the direct-axis current value Id, and the corresponding preset value includes the average direct-axis current value Id_avg within the sampling period where the current speed of the motor is located. Alternatively, the motion parameters include the maximum peak value Id_max of the absolute value of the direct-axis current within a sampling period, and the corresponding preset value includes the direct-axis current reference value Id_ref.

[0082] It should be noted that the aforementioned multiple preset values ​​can be pre-calculated and set in a lookup table, or can be calculated based on the acquired motion parameters in subsequent embodiments to determine the preset values ​​of the corresponding motion parameters. The specific method can be set according to actual needs.

[0083] S400 : As shown in FIG3 , according to the relationship between the motion parameter and the corresponding preset value, the magnitude of the direct-axis current of the motor is determined and adjusted to reduce the vibration of the motor 100 .

[0084] Based on the above multiple categories of motion parameters and the preset values ​​of the corresponding motion parameters, the magnitude of the DC current used to adjust and control the motor can be determined by different motion parameters and preset values. The following six embodiments are used to determine the DC current Id used to adjust and control the motor 100.

[0085] In the first embodiment, as shown in FIG4 , S400 includes S410 and S411 .

[0086] The motion parameters acquired in S300 include the motor's speed value, Speed, and the corresponding preset values ​​include the average speed value, Speed_avg. As shown in Figure 5, the average speed value, Speed_avg, is the value of the smoothed speed signal corresponding to the current speed value, Speed. S410: The larger of the speed value, Speed, and the average speed value, Speed_avg, of motor 100 is determined as the current reference speed value.

[0087] A lookup table is preset, which includes a mapping relationship between the speed value Speed ​​and the direct-axis current Id.

[0088] The lookup table includes mapping relationships of multiple parameters of the motor 100, such as the mapping relationships between bus voltage Vdc, speed value Speed, torque and direct axis current Id and quadrature axis current Iq respectively. The method provided in this embodiment utilizes the mapping relationship between speed value Speed ​​and direct axis current Id.

[0089] S411: Searching for a direct-axis current corresponding to a reference speed value in a preset lookup table, and determining the magnitude of the direct-axis current as a target direct-axis current for the current regulation and control of the motor.

[0090] It is understandable that the greater the rotation speed of the motor 100 , the greater the degree of vibration caused by inertia.

[0091] In this way, the larger of the speed value Speed ​​and the speed average value Speed_avg of the motor 100 determined above is the current reference speed value, which can reduce the probability and degree of jitter of the motor 100 when controlling the motor 100 using the direct-axis current Id corresponding to the motor speed value below the maximum speed.

[0092] In the second embodiment, as shown in FIG6 , S400 includes S420 and S421 .

[0093] The motion parameters acquired in S300 include the bus voltage Vdc driving the motor, and the corresponding preset values ​​include the average bus voltage Vdc_avg. As shown in Figure 7, the average bus voltage Vdc_avg is the value of the smoothed bus voltage signal corresponding to the bus voltage Vdc at the current moment. S420: The smaller of the bus voltage Vdc driving the motor 100 and the average bus voltage Vdc_avg is determined as the current reference bus voltage.

[0094] A lookup table is preset, which includes a mapping relationship between the bus voltage Vdc and the direct-axis current Id.

[0095] The lookup table includes mapping relationships between multiple parameters of the motor 100, such as the bus voltage Vdc, speed value Speed, torque and the direct axis current Id and quadrature axis current Iq. The method provided in this embodiment utilizes the mapping relationship between the bus voltage Vdc and the direct axis current Id.

[0096] S421 : Searching a preset lookup table for the direct-axis current Id corresponding to the reference bus voltage, and determining the magnitude of the direct-axis current Id as the target direct-axis current Id for currently regulating and controlling the motor 100 .

[0097] It can be understood that the greater the bus voltage Vdc of the motor 100, the greater the magnetic field effect and the motor speed Speed, and the greater the degree of motor jitter. Among them, as shown in Figure 7, in the stage where the value of the bus voltage Vdc is constant, the speed Speed ​​of the motor 100 under the action of the magnetic field and inertia is a continuous sinusoidal fluctuation. In the stage where the value of the bus voltage Vdc first gradually decreases and then gradually recovers, the speed Speed ​​of the motor 100 under the action of the magnetic field and inertia can be expressed as a relatively stable value. Therefore, when the bus voltage Vdc is the smallest, the degree of jitter of the motor 100 is more obvious.

[0098] In this way, the direct-axis current Id corresponding to the above-mentioned reference bus voltage is determined, and the size of the direct-axis current Id is determined as the target direct-axis current Id of the current regulation and control motor 100. When the motor 100 is driven by a direct-axis current Id corresponding to a minimum bus voltage Vdc that is greater than or equal to the basis, the probability and degree of jitter of the motor 100 can be reduced.

[0099] In the third embodiment, as shown in FIG8 , S400 includes S430 to S432 .

[0100] S430: Preset a lookup table, which includes a mapping relationship between the speed value Speed ​​and the direct-axis current Id.

[0101] The lookup table includes mapping relationships of multiple parameters of the motor 100, such as the mapping relationships between bus voltage Vdc, speed value Speed, torque and direct axis current Id and quadrature axis current Iq respectively. The method provided in this embodiment utilizes the mapping relationship between speed value Speed ​​and direct axis current Id.

[0102] The motion parameters acquired using S300 include the maximum peak speed value Speed_max within a sampling cycle, and the corresponding preset values ​​can be determined to include a speed reference value Speed_ref. As shown in FIG5 , the speed reference value Speed_ref is the maximum peak speed value within the sampling cycle before the current sampling cycle during the motor operation process (two adjacent sampling cycles are shown in FIG5 ). S431: The larger of the maximum peak speed value Speed_max within a sampling cycle and the speed reference value Speed_ref is determined as the reference speed value for the current sampling cycle.

[0103] S432 : Searching a preset lookup table for the direct-axis current Id corresponding to the reference speed value, and determining the magnitude of the direct-axis current Id as the target direct-axis current for currently regulating and controlling the motor 100 .

[0104] It is understandable that the greater the speed of the motor 100, the greater the degree of jitter under inertia. The size of the "sampling period" is a period for collecting data determined according to the motion state and duration of the motor 100, so as to evenly obtain the motion data of the motor 100. In two adjacent sampling periods, the maximum peak value of the speed in the previous sampling period can be used as the speed reference value of the next sampling period. In this way, for example, after the judgment of "whether to perform the shock absorption operation" in the previous sampling period, the shock absorption operation is not performed, and the data collection of the next sampling period is continued, that is, based on the motion situation of the maximum peak value of the speed Speed_max in the previous sampling period (i.e., the speed reference value Speed_ref), there is no motor 100 jitter problem or the jitter can be ignored. Therefore, the maximum peak value of the speed Speed_max in the next sampling period is compared with the speed reference value Speed_ref. If the maximum peak value of the speed Speed_max in the next sampling period is greater than the speed reference value Speed_ref, there may be a motor 100 jitter problem and a shock absorption operation is required. For another example, since the maximum peak value Speed_max of the speed in the latter sampling period is greater than the maximum peak value Speed_max of the speed in the previous sampling period (i.e., the speed reference value Speed_ref), the speed of the motor 100 represented by the two adjacent sampling periods changes significantly (the speed increases significantly), which can easily cause the motor 100 to shake. Therefore, shock absorption operations need to be taken.

[0105] Therefore, the larger of the maximum speed peak Speed_max and the speed reference value Speed_ref within a sampling period determined above is the current reference speed value. When the motor 100 is driven by a direct-axis current Id corresponding to a speed smaller than the maximum speed, the speed stability of the motor 100 in adjacent sampling periods is improved, and the probability and degree of jitter of the motor 100 are reduced.

[0106] In the fourth embodiment, as shown in FIG9 , S400 includes S440 and S441 .

[0107] The motion parameters acquired in S300 include the minimum bus voltage peak value Vdc_min within the sampling cycle, and the corresponding preset values ​​acquired include a bus voltage reference value Vdc_ref; the bus voltage reference value Vdc_ref is the minimum bus voltage peak value Vdc_min within the sampling cycle before the current sampling cycle during the operation of the motor 100. S440: The smaller of the minimum bus voltage peak value Vdc_min within the sampling cycle and the bus voltage reference value Vdc_ref is determined as the reference bus voltage within the current sampling cycle.

[0108] A lookup table is preset, and the lookup table includes a mapping relationship between the bus voltage Vdc and the direct-axis current Id.

[0109] The lookup table includes mapping relationships between multiple parameters of the motor 100, such as the bus voltage Vdc, speed value Speed, torque and the direct axis current Id and quadrature axis current Iq. The method provided in this embodiment utilizes the mapping relationship between the bus voltage Vdc and the direct axis current Id.

[0110] S441 : Searching a preset lookup table for the direct-axis current Id corresponding to the reference bus voltage, and determining the magnitude of the direct-axis current Id as the target direct-axis current of the motor 100 currently being regulated and controlled.

[0111] It can be understood that the greater the bus voltage Vdc of the motor 100, the greater the magnetic field effect and the motor speed Speed, and the greater the degree of motor jitter. Among them, as shown in Figures 5 and 7, in the stage where the value of the bus voltage Vdc is constant, the speed Speed ​​of the motor 100 under the action of the magnetic field and inertia is a continuous curve that fluctuates up and down within a specified value range. In the stage where the value of the bus voltage Vdc first gradually decreases and then gradually recovers, the speed Speed ​​of the motor 100 under the action of the magnetic field and inertia can be expressed as a relatively stable value. Therefore, when the bus voltage Vdc is minimum, the degree of jitter of the motor 100 is more obvious.

[0112] The "sampling period" is a period during which data can be collected, determined based on the motion state and duration of the motor 100, to uniformly acquire motion data of the motor 100. In two adjacent sampling periods, the minimum bus voltage peak value Vdc_min during the previous sampling period serves as the bus voltage reference value Vdc_ref for the next sampling period.

[0113] In this way, after the judgment of "whether to perform the damping operation" in the previous sampling cycle, the damping operation is not performed, and the data collection of the next sampling cycle is continued. That is, based on the minimum peak value Vdc_min of the bus voltage in the previous sampling cycle (i.e., the bus voltage reference value Vdc_ref), the movement of the motor 100 does not produce a jitter problem or the jitter is negligible. Therefore, the minimum peak value Vdc_min of the bus voltage in the next sampling cycle is compared with the bus voltage reference value Vdc_ref. If the minimum peak value Vdc_min of the bus voltage in the next sampling cycle is less than the bus voltage reference value Vdc_ref, then there may be a jitter problem with the motor 100, and the damping operation needs to be performed.

[0114] In this way, the direct-axis current Id corresponding to the above-mentioned reference bus voltage Vdc is determined, and the magnitude of the direct-axis current Id is determined as the direct-axis current Id currently regulating and controlling the motor 100. This can reduce the probability and degree of vibration of the motor 100 when driving the motor 100 with a direct-axis current Id corresponding to a minimum bus voltage Vdc that is greater than or equal to the basis.

[0115] It should be noted that the above four embodiments are applied before the lookup table operation, and the subsequent two embodiments are applied after the lookup table operation. The motor jitter suppression method provided in this application may include any one of Embodiments 1 to 4, and / or Embodiment 5 or 6. In this way, a more stable field weakening current can be obtained while further reducing resource usage and delay, further improving the control stability of the motor 100.

[0116] In the fifth embodiment, as shown in FIG10 , S400 includes S450 and S451 .

[0117] The motion parameters acquired in step S300 include the direct-axis current value Id, and the corresponding preset value includes the average direct-axis current value Id_avg within the sampling period of the current motor speed. The average direct-axis current value Id_avg is the smoothed direct-axis current value Id within the sampling period corresponding to the current speed Speed.

[0118] A lookup table is preset, and the lookup table includes a mapping relationship between the speed Speed ​​and the direct-axis current Id.

[0119] The lookup table includes mapping relationships of multiple parameters of the motor 100, such as the mapping relationships between bus voltage Vdc, speed value Speed, torque and direct axis current Id and quadrature axis current Iq respectively. The method provided in this embodiment utilizes the mapping relationship between speed Speed ​​and direct axis current Id.

[0120] S450: Obtain the direct-axis current value Id corresponding to the current speed of the motor and the corresponding direct-axis current average value Id_avg from a preset lookup table. As shown in FIG11 , the direct-axis current average value Id_avg is the value of the direct-axis current Id corresponding to the current moment in the smoothed direct-axis current signal;

[0121] S451: Determine the direct-axis current Id and the direct-axis current average value Id_avg, whichever has a larger absolute value, as the updated direct-axis current Id, and update the lookup table. The updated direct-axis current Id is the target direct-axis current currently regulated and controlled for the motor 100.

[0122] It is understood that the magnitude of the direct-axis current Id of motor 100 represents the magnitude of the magnetic field force regulating the magnetic field driving motor 100. For example, when motor 100 experiences frequent changes due to magnetic field instability, direct-axis current Id can strengthen or weaken the magnetic field, thereby regulating the speed of motor 100 and reducing the likelihood of motor 100 vibration.

[0123] This embodiment first obtains the direct-axis current Id corresponding to the current speed of motor 100, Speed, from a lookup table. Considering that the direct-axis current Id fluctuates (characterized by an uneven curve with glitches and amplitude variations on a graph (not shown in this embodiment), based on the smooth average direct-axis current value Id_avg, a stable direct-axis current Id is determined by determining the larger absolute value between the direct-axis current Id and the average direct-axis current value Id_avg as the updated direct-axis current Id. This direct-axis current Id can regulate the speed of motor 100 and reduce the likelihood of motor 100 jitter.

[0124] In the sixth embodiment, as shown in FIG12 , S400 includes S460 and S461 .

[0125] The motion parameters acquired using S300 include a maximum peak value Id_max of the absolute value of the direct-axis current within a sampling period, and a corresponding preset value includes a direct-axis current reference value Id_ref. As shown in FIG11 , the direct-axis current reference value Id_ref is the maximum peak value Id_max of the absolute value of the direct-axis current during the operation of motor 100 in the sampling period preceding the current sampling period.

[0126] A lookup table is preset, and the lookup table includes a mapping relationship between the speed Speed ​​and the direct-axis current Id.

[0127] The lookup table includes mapping relationships of multiple parameters of the motor 100, such as the mapping relationships between bus voltage Vdc, speed value Speed, torque and direct axis current Id and quadrature axis current Iq respectively. The method provided in this embodiment utilizes the mapping relationship between speed Speed ​​and direct axis current Id.

[0128] S460 : Obtaining the maximum peak value Id_max of the absolute value of the direct-axis current Id within a sampling period corresponding to the current speed of the motor 100 and the direct-axis current reference value Id_ref from a preset lookup table.

[0129] S461: Determine the larger of the direct-axis current absolute value Id_max and the direct-axis current reference value Id_ref within a sampling period as the updated direct-axis current Id, and update the lookup table. The updated direct-axis current Id is the target direct-axis current currently regulated and controlled by the motor 100.

[0130] It is understood that the magnitude of the direct-axis current Id of motor 100 represents the magnitude of the magnetic field force regulating the magnetic field driving motor 100. For example, when motor 100 experiences frequent changes due to magnetic field instability, direct-axis current Id can strengthen or weaken the magnetic field, thereby regulating the speed of motor 100 and reducing the likelihood of motor 100 vibration.

[0131] The "sampling period" is a period during which data can be collected, determined based on the motion state and duration of motor 100, to uniformly acquire motion data of motor 100. In two adjacent sampling periods, the maximum peak value Id_max of the absolute value of the direct-axis current Id during the previous sampling period serves as the direct-axis current reference value Id_ref for the next sampling period.

[0132] This embodiment first obtains the direct-axis current Id corresponding to the current speed of motor 100 from a lookup table. The larger of the direct-axis current absolute value Id_max and the direct-axis current reference value Id_ref within a sampling period is determined as the updated direct-axis current Id, thereby increasing the regulation of the magnetic field within which motor 100 is located by direct-axis current Id. Furthermore, the difference in direct-axis current Id between adjacent sampling periods is reduced, thereby improving the stability of motor 100's movement in a stable magnetic field and reducing the probability and degree of motor 100's jitter.

[0133] In the above-mentioned jitter suppression method, it is first determined whether the motor 100 and / or the device where the motor 100 is located is jittering. By comparing the jitter amplitude of the jitter signal with the first threshold, when the jitter amplitude of the jitter signal is greater than the first threshold, it is confirmed that the motor 100 is continuously jittering, reducing the influence of accidental factors, reducing power consumption, and taking a shock absorption operation for the jitter of the motor 100 and / or the device where the motor 100 is located. By obtaining different motion parameters and corresponding preset values ​​of the motor 100, and determining the magnitude of the direct-axis current of the motor to be adjusted and controlled by the magnitude relationship between the motion parameters and the corresponding preset values, the probability of jitter of the motor 100 and the device where the motor 100 is located can be reduced, and the jitter of the motor 100 and the device where the motor 100 is located can be slowed down. In addition, the parameters involved in this calculation process (favorable to the motion parameters and preset values) and the method for obtaining the parameters are simple and fast, and the direct-axis current Id of the motor 100 can be adjusted and controlled in real time, thereby improving the user experience. In addition, compared with the method of adopting a shock-absorbing structure, the application scenario and method of the present application can reduce manufacturing costs.

[0134] In some embodiments, the present application provides a computer-readable storage medium that includes a stored computer program that, when executed, controls the device 200 containing the computer-readable storage medium to execute the jitter suppression method S100 to S400 provided in any of the above embodiments.

[0135] Since the various embodiments of the present application can be implemented in software, the present application can be implemented as computer-readable code for providing to a programmable device on any suitable carrier medium. Tangible carrier media can include storage media such as floppy disks, CD-ROMs, hard drives, magnetic tape devices, or solid-state memory devices. Furthermore, the computer-readable storage medium can be applied to any device that uses the motor 100. For example, the device includes a vehicle, a robot, a manipulator, and the like.

[0136] In some embodiments, as shown in FIG13 , the present application provides a vibration suppression system 200 . The motor vibration suppression system 200 includes a motor 100 and a motor controller 210 .

[0137] The motor 100 is used to drive the device in which the motor is installed to operate under the control of the bus voltage Vdc. The motor 100 includes a permanent magnet synchronous motor. The device in which the motor 100 is installed includes a vehicle.

[0138] Motor controller 210 is coupled to motor 100 and is configured to obtain a jitter signal from motor 100 and / or the device in which motor 100 resides; determine, when the jitter amplitude of the jitter signal is greater than a first threshold, the magnitude of direct-axis current Id of motor 100 to be regulated based on the relationship between the obtained motion parameters of motor 100 and corresponding preset values; and adjust the magnitude of the magnetic field surrounding motor 100 based on the target direct-axis current to mitigate jitter in motor 100 and the device in which motor 100 resides. Motion parameters represent property values ​​of motor 100 under different states, and different motion parameters correspond to different preset values.

[0139] In some embodiments, the motion parameters of the motor 100 include: a speed value Speed, a bus voltage Vdc driving the motor 100, a maximum speed peak Speed_max within a sampling period, a minimum bus voltage peak Vdc_min within a sampling period, a direct-axis current value Id, and a maximum peak value Id_max of the absolute value of the direct-axis current within a sampling period.

[0140] The preset values ​​include: one or more of a speed average value Speed_avg, a bus voltage average value Vdc_avg, a speed reference value Speed_ref, a bus voltage reference value Vdc_ref, a direct-axis current average value Id_avg, and a direct-axis current reference value Id_ref.

[0141] For example, the motion parameters used in the above embodiment include the speed value Speed ​​of the motor, and the corresponding preset value includes the average speed value Speed_avg. Alternatively, the motion parameters include the bus voltage Vdc that drives the motor 100. The corresponding preset value includes the average bus voltage value Vdc_avg. Alternatively, the motion parameters include the maximum peak speed value Speed_max within a sampling period, and the corresponding preset value includes the speed reference value Speed_ref. Alternatively, the motion parameters include the minimum peak bus voltage value Vdc_min within the sampling period, and the corresponding preset value includes the bus voltage reference value Vdc_ref. Alternatively, the motion parameters include the direct-axis current value Id, and the corresponding preset value includes the average direct-axis current value Id_avg within the sampling period where the current speed of the motor is located. Alternatively, the motion parameters include the maximum peak value Id_max of the absolute value of the direct-axis current within a sampling period, and the corresponding preset value includes the direct-axis current reference value Id_ref. The specific jitter suppression method can be found in the above embodiment and will not be repeated here.

[0142] It should be noted that the aforementioned multiple preset values ​​can be pre-calculated and set in a lookup table, or can be calculated based on the acquired motion parameters in subsequent embodiments to determine the preset values ​​of the corresponding motion parameters. The specific method can be set according to actual needs.

[0143] In some embodiments, as shown in FIG. 14 , the motor controller 210 includes a sensor unit 211 , a filter unit 212 , a calculation unit 213 , and an output unit 214 .

[0144] The sensor unit 211 is coupled to the motor 100 and is used to collect a rotation speed signal of the motor 100 .

[0145] The filtering unit 212 is coupled to the sensor unit 211 and is configured to filter the rotation speed signal to obtain a jitter signal within a first frequency range.

[0146] The calculation unit 213 is coupled to the filter unit 212 and receives the dither signal. The calculation unit 213 is configured to determine a relationship between a dither amplitude of the dither signal and a first threshold value, and, if the dither amplitude is greater than the first threshold value, to determine a target direct-axis current for regulating and controlling the motor 100 based on a relationship between the acquired motion parameters of the motor 100 and corresponding preset values.

[0147] The output unit 314 is coupled to the calculation unit 313 and the motor 100 and is used to transmit the target direct-axis current to the motor 100 and adjust the state of the motor 100 under the target direct-axis current to reduce the vibration of the motor 100 and the device where the motor 100 is located.

[0148] In some embodiments, as shown in FIG15 , the filtering unit 212 includes a first filter, and the first filter is used to filter the rotation speed signal to obtain a jitter signal within a first frequency range.

[0149] The first filter includes a bandpass filter. The passband frequency range of the bandpass filter is the frequency range when the motor 100 emits a vibration signal, so as to obtain a vibration signal within a first frequency range. For example, the first frequency range includes 3 Hz to 12 Hz.

[0150] It should be noted that, in order to facilitate the comparison between the rotation speed and the peak value of the rotation speed of the dither signal in subsequent embodiments, the dither signal obtained here may be a signal after an absolute value operation is performed.

[0151] In some embodiments, please continue to refer to FIG. 15 , the filtering unit 212 further includes a second filter, and the second filter is configured to perform secondary filtering on the jitter signal to obtain a smooth jitter amplitude signal within the first frequency range.

[0152] The second filter includes a low-pass filter.

[0153] Since the fluctuation signal obtained after band-pass filtering is not necessarily stable near zero, the fluctuation information after band-pass filtering may also include part of the motor's constant speed part and the motor's speed linear conversion part. Therefore, a low-pass filter is used to stabilize the fluctuation information after band-pass filtering to fluctuate around zero. The fluctuation information at this time is the calibrated jitter component. Performing a shock absorption operation based on the calibrated speed jitter component is beneficial to improving the anti-shake effect. In this way, the low-pass filter is used to remove the spectral interference of the sampling process (such as the noise of the jitter signal within the first frequency range obtained by the band-pass filter), and by obtaining a smooth jitter signal, the accuracy of judging whether the shock absorption operation is performed based on the jitter signal is improved.

[0154] It can be understood that when using the first filter and the second filter, the absolute value of the signal after filtering by the first filter can be taken instead of the absolute value, and the absolute value can be taken after filtering by the second filter; or the absolute value of the signal after filtering by the first filter can be taken, and the signal after taking the absolute value can be filtered by the second filter.

[0155] In addition, when the motor speed is higher, the influence of the constant speed part of the motor on the jitter component is greater. When the motor speed is lower, since the interference of the constant speed part of the motor is smaller, it can be directly calculated based on the fluctuation information after bandpass filtering, eliminating the low-pass filter and simplifying the calculation steps.

[0156] In this embodiment, the jitter suppression system 200 is presented in the form of a plurality of connected units. The "unit" here may refer to an application-specific integrated circuit (ASIC), a processor and memory that executes one or more software or firmware programs, an integrated logic circuit, and / or other devices that can provide the above functions. The system disclosed above can be implemented in other ways. For example, the division of the unit is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. The mutual coupling, direct coupling, or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0157] In some embodiments, as shown in FIG16 , the present application provides a vehicle 300 . The vehicle 300 includes a vibration suppression system 200 and a transmission system 310 as provided in any of the above embodiments. The transmission system 410 is configured to move under the drive of the vibration suppression system 200 to reduce vibration of the vehicle 300 .

[0158] It should be noted that the embodiment of the vibration suppression system 200 provided in this application and the embodiment of the motor vibration suppression method are based on the same concept; the technical features of the technical solutions described in each embodiment can be arbitrarily combined without conflict. However, it should be further noted that the combination of the various technical features of the vibration suppression method provided in the embodiment of this application can already solve the technical problem to be solved by this application; therefore, the computer-readable storage medium, vibration suppression system, and vehicle provided in the embodiment of this application are not limited by the vibration suppression method provided in the embodiment of this application, and any device capable of executing the vibration suppression method provided in the embodiment of this application is within the scope of protection of this application.

[0159] The above description is merely an embodiment of the present application and is not intended to limit the scope of protection of the present application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A jitter suppression method, wherein, The jitter suppression method includes: Obtaining a jitter signal of the motor and / or the device where the motor is located; Judging that when the jitter amplitude of the jitter signal is greater than a first threshold, performing a shock absorption operation; the first threshold is the amplitude when the device where the motor is located jitters; Obtaining the motion parameters of the motor and corresponding preset values; the motion parameters represent the attribute values of the motor in different states, and different motion parameters correspond to different preset values; Determining the magnitude of the target direct-axis current for regulating and controlling the motor according to the magnitude relationship between the motion parameter and the corresponding preset value, so as to reduce the jitter of the motor and the device where the motor is located.

2. The method according to claim 1, wherein, The motion parameters of the motor include one or more of: the rotational speed value of the motor, the bus voltage driving the operation of the motor, the maximum rotational speed peak value within one sampling period, the minimum bus voltage peak value within one sampling period, the direct-axis current value, and the maximum peak value of the absolute value of the direct-axis current within one sampling period; The preset values include one or more of: the average rotational speed, the average bus voltage, the rotational speed reference value, the bus voltage reference value, the average direct-axis current, and the direct-axis current reference value.

3. The method according to claim 2, wherein Determining the magnitude of the direct-axis current for regulating and controlling the motor according to the magnitude relationship between the motion parameter and the corresponding preset value includes: The obtained motion parameter includes the rotational speed value of the motor, and the corresponding preset value includes the average rotational speed; the average rotational speed is the value of the rotational speed corresponding to the current moment in the smooth rotational speed signal; Determining the larger one of the rotational speed value and the average rotational speed as the referable rotational speed value; There is a preset look-up table, and the look-up table includes the mapping relationship between the rotational speed value and the direct-axis current; looking up the direct-axis current corresponding to the referable rotational speed value in the preset look-up table, and determining the magnitude of the direct-axis current as the target direct-axis current for current regulation and control of the motor.

4. The method according to claim 2, wherein Determining the magnitude of the direct-axis current for regulating and controlling the motor according to the magnitude relationship between the motion parameter and the corresponding preset value includes: The obtained motion parameter includes the bus voltage driving the operation of the motor, and the corresponding preset value includes the average bus voltage; the average bus voltage is the value of the bus voltage corresponding to the current moment in the smooth bus voltage signal; Determining the smaller one of the bus voltage driving the operation of the motor and the average bus voltage as the referable bus voltage; There is a preset look-up table, and the look-up table includes the mapping relationship between the bus voltage and the direct-axis current; looking up the direct-axis current corresponding to the referable bus voltage in the preset look-up table, and determining the magnitude of the direct-axis current as the target direct-axis current for current regulation and control of the motor.

5. The method according to claim 2, wherein, Determining the magnitude of the direct-axis current for regulating and controlling the motor according to the magnitude relationship between the motion parameter and the corresponding preset value includes: The obtained motion parameters include the maximum peak value of the rotational speed within the one sampling period, and the corresponding preset value includes the rotational speed reference value; the rotational speed reference value is the maximum peak value of the rotational speed within the previous sampling period compared to the current sampling period during the operation of the motor; Determine the larger one between the maximum peak value of the rotational speed within the one sampling period and the rotational speed reference value as the rotational speed value that can be referred to within the current sampling period; There is a pre-set look-up table, and the look-up table includes the mapping relationship between the rotational speed value and the direct-axis current; look up the direct-axis current corresponding to the referable rotational speed value in the pre-set look-up table, and determine the magnitude of the direct-axis current as the target direct-axis current for current adjustment and control of the motor.

6. The method according to claim 2, wherein, Determine the magnitude of the direct-axis current for adjusting and controlling the motor according to the magnitude relationship between the motion parameter and the corresponding preset value, including: The obtained motion parameters include the minimum peak value of the bus voltage within the one sampling period, and the corresponding preset value includes the bus voltage reference value; the bus voltage reference value is the minimum peak value of the bus voltage within the previous sampling period compared to the current sampling period during the operation of the motor; Determine the smaller one between the minimum peak value of the bus voltage within the one sampling period and the bus voltage reference value as the bus voltage that can be referred to within the current sampling period; There is a pre-set look-up table, and the look-up table includes the mapping relationship between the bus voltage and the direct-axis current; look up the direct-axis current corresponding to the referable bus voltage in the pre-set look-up table, and determine the magnitude of the direct-axis current as the target direct-axis current for current adjustment and control of the motor.

7. The method according to any one of claims 2 to 6, wherein Determine the magnitude of the direct-axis current for adjusting and controlling the motor according to the magnitude relationship between the motion parameter and the corresponding preset value, including: The obtained motion parameters include the direct-axis current value, and the corresponding preset value includes the average value of the direct-axis current within the sampling period where the current rotational speed of the motor is located; the average value of the direct-axis current is the value of the direct-axis current corresponding to the current moment in the smoothed direct-axis current signal; There is a pre-set look-up table, and the look-up table includes the mapping relationship between the rotational speed and the direct-axis current; obtain the direct-axis current value corresponding to the current rotational speed of the motor and the corresponding average value of the direct-axis current in the pre-set look-up table; Determine the one with the larger absolute value between the direct-axis current and the average value of the direct-axis current as the updated direct-axis current, and update the look-up table; the updated direct-axis current is the target direct-axis current for current adjustment and control of the motor.

8. The method according to any one of claims 2 to 6, wherein Determine the magnitude of the direct-axis current for adjusting and controlling the motor according to the magnitude relationship between the motion parameter and the corresponding preset value, including: The obtained motion parameters include the maximum peak value of the absolute value of the direct-axis current within the one sampling period, and the corresponding preset value includes the direct-axis current reference value; the direct-axis current reference value is the maximum peak value of the absolute value of the direct-axis current within the previous sampling period compared to the current sampling period during the operation of the motor; A lookup table is preset, and the lookup table includes the mapping relationship between the rotational speed and the direct-axis current; obtain the maximum peak value of the absolute value of the direct-axis current within the one sampling period corresponding to the current rotational speed of the motor in the preset lookup table, and the direct-axis current reference value; Determine the larger one of the maximum peak value of the absolute value of the direct-axis current within the one sampling period and the direct-axis current reference value as the updated direct-axis current, and update the lookup table; the updated direct-axis current is the target direct-axis current for adjusting the current control of the motor.

9. The method according to claim 1, wherein The obtaining of the jitter signal of the motor and / or the device where the motor is located includes: Obtain the rotational speed signal of the motor; Use a first filter to obtain the jitter signal of the rotational speed signal within a certain frequency range; the frequency range is the frequency range in the case where the motor emits the jitter signal; the jitter signal includes the frequency and amplitude of the rotational speed jitter of the motor.

10. The method according to claim 9, wherein The obtaining of the jitter signal of the motor further includes: Filter the jitter signal by using a second filter to obtain a smooth jitter amplitude signal within the frequency range.

11. A computer-readable storage medium, wherein, The computer-readable storage medium includes a stored computer program; when the computer program runs, it controls the device where the computer-readable storage medium is located to execute the jitter suppression method according to any one of claims 1 to 10.

12. A jitter suppression system, wherein, The jitter suppression system includes: A motor for driving the device where the motor is located to operate under the control of the bus voltage; A motor controller coupled to the motor for obtaining the jitter signal of the motor and / or the device where the motor is located; and for determining the magnitude of the target direct-axis current for adjusting the control of the motor according to the magnitude relationship between the obtained motion parameter of the motor and the corresponding preset value when the jitter amplitude of the jitter signal is greater than a first threshold; and for adjusting the magnitude of the magnetic field where the motor is located based on the target direct-axis current to reduce the jitter of the motor and the device where the motor is located; Wherein, the motion parameter represents the attribute value of the motor in different states, and different motion parameters correspond to different preset values.

13. The system according to claim 12, wherein, The motor controller includes: A sensor unit coupled to the motor for collecting the rotational speed signal of the motor; A filtering unit coupled to the sensor unit for filtering the rotational speed signal to obtain the jitter signal within a first frequency range; A calculation unit coupled to the filtering unit for receiving the jitter signal; the calculation unit is used for judging the magnitude relationship between the jitter amplitude of the jitter signal and the first threshold, and for determining the magnitude of the target direct-axis current for adjusting the control of the motor according to the magnitude relationship between the obtained motion parameter of the motor and the corresponding preset value when the jitter amplitude is greater than the first threshold; An output unit coupled to the calculation unit and the motor for transmitting the target direct-axis current to the motor to adjust the state of the motor under the action of the target direct-axis current to reduce the jitter of the motor and the device where the motor is located.

14. The system according to claim 13, wherein, The filtering unit includes: A first filter for filtering the rotational speed signal to obtain the jitter signal within a first frequency range.

15. The system according to claim 14, wherein, The filtering unit further includes: a second filter for performing secondary filtering on the jitter signal to obtain a smooth jitter amplitude signal within a first frequency range.

16. A vehicle, wherein, The vehicle includes: The motor jitter suppression system according to any one of claims 12 to 15; A transmission system for moving under the drive of the motor jitter suppression system to reduce the jitter of the vehicle.

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