360 results about "Drag torque" patented technology

The invention discloses a device and a method for measuring dragging torque of an electronic mechanical brake caliper assembly, and belongs to the technical field of automobile brake system testing. The device comprises a first supporting seat, a driving rotating shaft, a brake disc and a driven rotating shaft assembly with a torque sensor, and precise positioning of a caliper support is achieved through cooperation of a rotating clamp and a guide pin. During testing, the calipers clamp the brake disc firstly to output clamping force and then release pressure, the motor drives the brake disc to rotate by a circle to eliminate inertia moment, and then the torque sensor dynamically collects dragging torque. A modularized brake disc fixing seat is adopted to adapt to products of different specifications, a coupler compensates for shafting offset, a fixing block locking mechanism guarantees non-measurement state safety, and inertia errors are eliminated in combination with a dynamic and static friction separation measurement method. According to the scheme, the problems of positioning deviation, mechanical interference and friction interference in a traditional test are solved, and the measurement precision and efficiency of the dragging torque of the brake calipers are remarkably improved.

The invention discloses a motor coil winding device and method, and belongs to the technical field of motor manufacturing, the motor coil winding device comprises a winding machine body, the upper surface of the winding machine body is fixedly connected with a pair of supporting plates, and the outer surfaces of the supporting plates are provided with self-adaptive floating wire protection assemblies; a wire dynamic regulation and control assembly is installed on the upper surface of the winding machine body, a fixing piece is installed on the upper surface of the winding machine body, and a winding displacement quality sensing assembly is installed on the portion, close to the fixing piece, of the upper surface of the winding machine body. The magnetorheological fluid in the magnetorheological fluid damper rapidly changes the rheological property under the action of a real-time control magnetic field, vibration transmission is effectively restrained, the phenomenon that a wire is broken due to too large tension is avoided, when it is monitored that the tension is too small, the magnetic powder brake increases the resisting moment and slows down the rotating speed of the pay-off reel to improve the tension, and if the tension is too large, the magnetic powder brake stops working. The magnetic powder brake reduces the resistance moment and accelerates the pay-off, and ensures that the wire is always at the optimal traction angle.

The invention discloses a multifunctional angle module test bench which is composed of a bench base, a load simulation device and a pavement simulation device. The bench base is provided with a lifting sliding column, and the height of a loading platform can be adjusted to adapt to suspension deformation; the load simulation device realizes vertical load adjustment by increasing or decreasing balancing weights; the pavement simulation device integrates a belt pulley shaft, a motor, a magnetic powder brake and a pressure oil cylinder, and simulates pavement resistance through belt rolling; during testing, the angle module body is fixed to a loading platform, tires make contact with a belt to achieve dynamic testing, a magnetic powder brake increases resistance torque for a main belt wheel shaft so as to simulate different road conditions, a motor drives the belt to test regenerative braking performance, and a pressure oil cylinder is matched with a thrust bearing to measure axial loads. The steering resistance and tire mechanical property test is completed by changing the included angle between the wheel and the belt motion direction; according to the invention, driving, braking, steering and suspension system testing functions are integrated, and multi-working-condition comprehensive performance detection is realized.

The invention discloses an automatic measuring device and method for a main reducing tapered roller paired bearing. The device comprises a control cabinet, a rack, a supporting platform, an axial loading unit, a bearing rotation driving unit, a non-contact measuring unit and a driving transmission connecting mechanism. A sliding pair is formed by a spline shaft of the driving transmission connecting mechanism and a special dummy shaft, and decoupling and reliable connection of axial loading and rotary driving are achieved in combination with a four-finger pneumatic chuck. The method comprises the following steps: positive and negative clearance measurement: bidirectionally applying force through the axial loading unit, and accurately detecting displacement by using the non-contact measurement unit to calculate the positive clearance; and after a spacer sleeve is selected based on a positive clearance result, the dragging torque is measured through a bearing rotation driving unit so as to verify the negative clearance. According to the invention, the integrated and high-precision automatic measurement of the positive and negative clearances of the main reducing tapered roller paired bearing on the same equipment is realized, the repeated disassembly and assembly of the assembly are effectively avoided, and the measurement efficiency and the assembly quality are improved.

A steer by wire includes a steering wheel holding system. An emulator controller receives vehicle data from vehicle systems and determines whether a vehicle is in one of a driving mode and a non-driving mode. When the vehicle is in the driving mode, the emulator controller transmits a command to an emulator switching system to electrically couple the phases of an emulator motor to a power source to enable the emulator motor to implement steer by wire operations placing the steering wheel in an un-hold mode. When the vehicle is in the non-driving mode, the emulator controller transmits a command to the emulator switching system to electrically couple the phases of the emulator motor to ground to short the phases of the emulator motor to ground to generate a resistive torque to resist rotational movement of a steering wheel of the vehicle placing the steering wheel in a hold mode.

The present invention relates to an energy recovery method and apparatus for a new energy vehicle, and an electronic device. The method comprises: on the basis of an actual road friction coefficient ahead, calculating the maximum braking force of an axle connected to a motor; determining whether a driver steps on a brake pedal or not, if yes, calculating the current vehicle desired braking torque on the basis of the depth of the brake pedal, and if not, entering a coasting state; when it is determined that the vehicle desired braking torque is smaller than the maximum braking force, at least implementing the vehicle desired braking torque by a motor drag torque; and when it is determined that the vehicle desired braking torque is greater than or equal to the maximum braking force, calculating a motor drag torque excluding the braking force required for ABS adjustment, using the motor drag torque as a basic braking force, and at least implementing the vehicle desired braking torque by the basic braking force and a supplementary braking force.

The invention discloses a coaxial torque vector distribution system which comprises a differential mechanism and a vector motor, a motor shaft of the vector motor is hollowly sleeved on a left half shaft of the differential mechanism, and the motor shaft is in transmission connection with the left half shaft and the differential mechanism through a transmission assembly; the transmission assembly comprises a first planet row and a second planet row, the first planet row and the second planet row share the same planet carrier, a first gear ring of the first planet row is fixedly connected to the left half shaft, and a second gear ring of the second planet row is fixedly connected to the differential mechanism shell. The sun gear of the first planet row or the sun gear of the second planet row is fixedly arranged at the far end of the motor shaft. The differential mechanism has a torque distribution function, the double planet row systems share one planet carrier, and the rotating speed of the planet carrier is lower than that of the differential mechanism shell, so that the dragging torque is smaller, and the performance is higher; meanwhile, the gear ring is adopted for power output, the rotating speed of a transmission assembly of the whole system can be reduced, heat generation is greatly reduced, the problems of oil liquid oxidative deterioration, lubricating performance reduction, aging of rubber sealing pieces and the like are solved, and safety is improved to the maximum extent.

The invention discloses a Yellow River water conservancy project real-time monitoring system based on edge computing, and particularly relates to the technical field of cloud computing. The system constructs a flow state characteristic interval by collecting water and sediment data; loading an algorithm component based on flow state characteristics, and changing a master control pointer by using atomization operation to realize calculation power logic hot switching; analyzing a difference value between the instantaneous torque of the motor and the no-load reference to obtain a sediment deposition resistance torque; mapping the resistance moment to a digital shadow table to extract a gain compensation parameter; and resetting controller parameters and modulating the pulse width signal according to the compensation coefficient, and outputting a driving voltage to control the gate. Through the edge end algorithm hot switching technology, the problems that a traditional system is difficult to adapt to the variable water and sediment working conditions of the Yellow River and logic updating shutdown are solved, and monitoring continuity is guaranteed. The defect of power mismatching of a single driving mode is overcome, motor overload and mechanical jamming are prevented, gate control accuracy and operation stability are greatly improved, and the service life of equipment is greatly prolonged.

The utility model relates to the technical field of vehicles, and discloses a limiting device, a steer-by-wire system and a vehicle, and the limiting device comprises a steering shaft, at least one rotating piece and two rotating limiting pieces. The at least one rotating piece is sequentially and rotatably arranged on the steering shaft in a sleeving mode in the axial direction of the steering shaft, the rotating piece is provided with a second limiting part, and the second limiting part on the rotating piece located at the first end in the axial direction of the steering shaft can abut against or be separated from the first limiting part in the circumferential direction of the steering shaft. The second limiting parts on any two adjacent rotating pieces can abut against or be separated from each other in the circumferential direction of the steering shaft. The two rotation limiting pieces are arranged in the circumferential direction of the steering shaft in a spaced mode and used for limiting the rotation range of the second limiting part on the rotating piece located at the second end in the axial direction of the steering shaft. By means of the arrangement, the rotation angle range of the steering shaft is limited, rotation resistance torque can be generated on the steering wheel under the power-off working condition of an electric control system of the steer-by-wire system or when faults occur, the number of rotation turns of the steering wheel is limited, and a clock spring is protected.

Disclosed in the present invention are a road feedback control method and apparatus. The method comprises: by means of a torque sensor stiffness-based steering angle configuration strategy, constructing a driver input torque expression; then acquiring a driver input torque, and, on the basis of the driver input torque expression, calculating a motor rotation angle; then constructing a road feedback motor output torque expression with respect to the motor rotation angle and steering resistance torque expressions for a steering system; and finally, on the basis of a particle swarm optimization, the road feedback motor output torque expression and the steering resistance torque expressions, optimizing parameters of a PID controller. Thus, the present invention uses a swarm intelligent algorithm to achieve rapid optimization of PID control parameters, so as to eliminate reliance on debugging by technicians, thus greatly shortening parameter adjustment periods.

The invention relates to a range extender control method and device, computer equipment and a storage medium, and the method comprises the steps: responding to a starting instruction of a range extender, and controlling a generator to operate according to a first dragging torque, so that the generator drags an engine to rotate reversely; judging whether the internal clearance of the engine component is eliminated or not based on the clearance elimination condition; under the condition that the clearance elimination condition is met, the generator is controlled to operate according to a second dragging torque, so that the generator drags the engine to rotate in the forward direction; and controlling the engine to ignite and start. By adopting the method, the noise problem of the range extender in the prior art can be improved.

The invention provides a micro-torque precision reducer performance test system. Comprising a test calculation end, a measurement and control instrument, a driving motor, a load motor, an electric control cabinet, a control cabinet, an automatic locking mechanism, a precise moving mechanism, a torque sensor, a circular grating, a vibration sensor, a displacement measurement system, a control display system, a temperature sensor, a noise sensor and a precise guide rail mechanism. The torque sensors are used for measuring the input torque and the output torque of a measured piece in real time, are respectively arranged near an input shaft and an output shaft, and output real-time signals to the measurement and control instrument; the driving motor provides driving torque for a tested piece and is provided with a torque sensor and a driver. The load motor provides a resistance moment for a tested piece, and is equipped with a motor driver, so that the tested piece can be tested under an externally applied load; the electric control cabinet is used for controlling a tested piece and a power supply; the control cabinet is used for installing a driving motor, and an emergency stop control circuit is arranged in the driving motor.

The utility model discloses a portable auxiliary tool for quickly operating a mechanical valve, which comprises an auxiliary wheel (1), the center of the auxiliary wheel (1) is rotatably connected with a rotating rod (2), and the bottom end of the rotating rod (2) is provided with a plurality of clamping jaws (3) for fixing a valve hand wheel (5). Aiming at a mechanical valve with a hand wheel with a large number of rotation turns but small resistance torque, the large-size valve operating device has the characteristics of assisting in single-hand operation of a large-size valve and improving the operating efficiency of the large-size valve.

A self-lubricating ultralow-temperature angular contact ball bearing belongs to the technical field of bearings and comprises a stainless steel outer sleeve and a stainless steel inner sleeve. A contact angle is arranged on one side of the inner side of the stainless steel outer sleeve and ranges from 14 degrees to 16 degrees. The silicon nitride ceramic ball bearing is characterized by further comprising a plurality of silicon nitride ceramic balls and a polyimide resin retainer, the polyimide resin retainer adopts an inner guide mode and has a self-lubricating function, an inner ring of the polyimide resin retainer is arranged at a position close to the stainless steel inner sleeve, and the inner ring of the polyimide resin retainer is in clearance fit with the outer edge of the stainless steel inner sleeve; the stainless steel inner sleeve is a rotary sleeve ring and provides dragging torque for the rolling body during rotation; a slope angle is arranged on one side of the inner side of the stainless steel outer sleeve, the slope angle ranges from 2.75 degrees to 3.25 degrees, and the slope and the groove bottom of the sleeve ring form a ball loading locking amount. The utility model has the advantages that: when working at an ultra-low temperature, the valve is not easy to wear, and the service life is prolonged.

The invention belongs to the technical field of automobile steering control, and particularly relates to an EPS steering force sensing control method based on friction compensation, which is composed of an EPS control mechanism nonlinear friction inverse characteristic correction module, a steering system dynamics steady-state inverse characteristic correction module and an EPS steering force sensing closed-loop control module. The EPS control mechanism non-linear friction inverse characteristic correction module identifies the dry friction characteristic of the EPS control mechanism, and compensates the non-linear friction force of the control mechanism in an open-loop compensation mode; the steering system dynamics steady-state inverse characteristic correction module determines the corresponding equivalent steering resistance torque according to the steering angle position of the steering system, and further determines the power-assisted control quantity of the motor; the EPS steering force sense closed-loop control module enables the steering system after open-loop compensation to have the steering hysteresis characteristic meeting the driving feeling of a driver, and the steering force sense better meets the driving feeling requirement of the driver.

The invention relates to a remote new energy tractor intelligent control method and system. According to the method, the microstructure, stress parameters and humidity of soil are obtained, and dynamic soil cohesion and friction angle are generated through Kalman filtering fusion; a friction coefficient mapping table is inquired based on the parameters to construct a steering resistance torque model, the friction coefficient is calibrated through the cloud in combination with the actual measurement value of the torque sensor, and a resistance torque calibration value is generated; inputting the calibrated resistance moment and path tracking error into a fuzzy reasoning model, and dynamically adjusting parameters of a PI (Proportional-Integral-Definition) controller; a target steering angle is generated based on the corrected PI D parameters, a steering motor is driven to execute through a control algorithm, and state data of the tractor are collected; and uploading the state data to the cloud, and optimizing the friction coefficient mapping table through reinforcement learning. Prediction of steering resistance in a complex soil environment and adaptive matching of control parameters are realized, path tracking precision and system stability are remarkably improved, energy consumption is reduced, and safety and reliability of remote control are ensured.

The invention discloses a starting method, device and equipment for an engine of a vehicle and a readable storage medium, and belongs to the technical field of vehicle control. The method comprises the steps that under the condition that a vehicle is in a high-voltage state, vehicle information of the vehicle at the current moment is obtained, and the vehicle information comprises at least one of the environment temperature, the battery charge state, the heating demand, the engine water temperature, the driving demand torque or the battery discharge power; under the condition that it is determined that an engine of the vehicle is started according to the vehicle information of the vehicle at the current moment, the resistance torque of the engine and the dragging rotating speed needed for starting the engine are obtained; according to the resistance torque of the engine and the dragging rotating speed needed by starting of the engine, the required torque for dragging a generator of the vehicle is determined; and controlling the generator to drag the engine according to the required torque. According to the method, the vehicle driving smoothness is improved.

The invention relates to the technical field of intelligent control of fitness equipment, and provides a power roller training intensity intelligent matching method based on elastic resistance self-adaptive adjustment. The method comprises the following steps: acquiring motion state data of a user during abdominal wheel training in real time through a sensor module; the motion state data and the physiological state data are input into a training intensity matching model, and the training intensity matching model calculates the matching degree of the current training intensity and the target training intensity according to preset training target parameters in combination with basic body parameters input by the user; when the matching degree is lower than a preset matching threshold value, a resistance adjusting instruction is generated according to the training intensity matching model, and the resistance adjusting instruction correspondingly controls the deformation degree or the meshing tooth number of an elastic element in the elastic resistance adjusting device so as to change the elastic resistance moment when the power roller body rolls. The technical blank in the aspects of training intensity dynamic matching, nonlinear resistance adjustment and closed-loop feedback control provides a brand new thought for the design of intelligent fitness equipment.

The invention discloses a low-liquid-volume automobile brake caliper and a liquid casting and forging forming method, and relates to the technical field of automobile brake calipers and casting and forging forming, the low-liquid-volume automobile brake caliper comprises a caliper body and a caliper body support, bolts are arranged on the left side and the right side of the caliper body and the left side and the right side of the caliper body support, and the bolts are used for fixing the caliper body and the caliper body support; an oil cylinder is arranged in the center of the top of the caliper body, a piston is arranged in the oil cylinder, a brake block is arranged in the piston, an inner friction plate and an outer friction plate are embedded into the upper end and the lower end of the caliper body support respectively, a fixing ring is welded to the center of back steel on the top of the inner friction plate, and a first reset structure is arranged in the center of the fixing ring which is fixedly connected with the piston. Reset structures II are arranged at the two ends of the inner friction plate and the outer friction plate; through the reset structure, the idle stroke of the brake pedal is reduced, the dragging torque is reduced, the response speed of the brake system is increased, and the overall efficiency and performance of the brake system are improved.

The present application relates to a braking method for an adaptive cruise control system (ACC), the method comprising: receiving an engine drag torque limit value of the vehicle; performing a correction of the engine drag torque limit value according to the vehicle's longitudinal speed and the actual torque value of the vehicle's engine; and determining, according to the corrected engine drag torque limit value, whether braking is performed via the vehicle stability control system (ESP). The present application further relates to a computer program product, a computer-readable storage medium, and a domain controller.

The invention relates to the technical field of motors, and discloses a reluctance-assisted permanent magnet synchronous motor and an assembly thereof. The reluctance-assisted permanent magnet synchronous motor comprises a casing, and two groups of end covers are fixedly mounted at the front end and the rear end of the casing. According to the reluctance-assisted permanent magnet synchronous motor and the assembly thereof, in order to enable the motor body to operate more stably and lower noise, the movement mechanism is arranged, a wire on each stator winding can serve as a loop of any two other input wires, each group of stator pieces can form an independent magnetic field, and the three groups of stator pieces alternately generate a magnetic field, so that the motor body is more stable in operation and lower in noise. When the motor body operates, the rotor piece synchronously rotates along with the rotation of the stator piece, a shunt magnetic conduction structure is adopted, so that the cogging torque is eliminated, and the built-in magnetic steel is adopted, so that the effects of low speed, large torque, weak magnetic field and high speed are achieved by fully utilizing the magnetic resistance torque. Therefore, the motor body is more stable in operation and lower in noise.

This invention provides a virtual-real fusion-based force feedback simulation control method for ship rudder control sticks, comprising: constructing a set of fluid control equations for the flow field on the rudder surface; discretizing the set of fluid control equations using a standard structured mesh to obtain a discretized set of fluid control equations; solving the discretized set of fluid control equations based on the finite difference method and boundary conditions to obtain the drag torque value of the fluid acting on the rudder plate; converting the drag torque value into a damping torque value; the control unit outputting a motor drive command based on the magnitude of the damping torque value; and the motor driver, based on the motor drive command output by the control unit, driving the force feedback simulation motor to generate a corresponding simulated damping torque value, which acts on the control stick to produce force feedback. This invention provides real-time control stick force feedback for the helmsman, allowing for direct perception of the ship's navigation status and enhancing steering stability.

The invention concerns a Brake carrier (10) for disc brake arrangement (11), the disc brake arrangement (11) having brake pads (24) that are displaceable relative to a brake disc (100), wherein the brake carrier (10) is configured to support the brake pads (24) during their displacement; wherein the brake carrier (10) comprises at least a first portion (14) that is arrangeable on a first side (13) of the brake disc (100), a second portion (16) that that is arrangeable on a second side (15) of the brake disc (100) and two connecting portions (18, 20) each connecting the first and second portions (14, 16); wherein at least one of the connecting portions (18, 20) comprises an air channel (12) having a first end (34) that is arranged so as to face towards the brake disc (100). Also disclosed is a disc brake arrangement (11) comprising such a brake carrier (10).

The single-face wet clutch suitable for the narrow space comprises a clutch outer hub and a clutch inner hub, and a plurality of first clutch plates are arranged on the inner side of the clutch outer hub in a bonding mode; a plurality of second clutch plates are arranged on the inner side of the clutch inner hub in a bonding manner; the first clutch plate and the second clutch plate are oppositely arranged in a penetrating mode, and at least one of the contact faces of the first clutch plate and the second clutch plate is a curve face. The single-face clutch can shorten the axial size of the clutch assembly and is suitable for a narrow space with insufficient axial length; the bent clutch plates can enable the clutch plates to be distributed more evenly in the axial direction in the separation state, the combination and separation consistency of the clutch assembly is improved, meanwhile, the guide effect of oil in the radial outer side direction is improved through the bent clutch plates, the oil can be rapidly discharged, the lubricating and cooling effects can be rapidly achieved, the dragging torque is reduced, and the service life of the clutch assembly is prolonged. The product efficiency is improved.

Various embodiments of the present disclosure provide a strapping tool including a tensioning assembly, a scaling assembly, a motor, and a transmission assembly. The transmission assembly operably connects the motor to the tensioning assembly and the sealing assembly. The motor can (via the transmission assembly) alternately drive the tensioning assembly to tension a loop of strap around a load and the sealing assembly to seal the strap to itself. The strapping tool also includes a locking assembly that prevents the motor from driving the sealing assembly via drag torque generated by the transmission assembly while the motor is driving the tensioning assembly.

The invention relates to an active and passive torsion damper test platform and a test method. The test platform comprises a test bench, and the test bench is provided with an adjustable-speed motor, a first rotating speed and torque sensor, a first acceleration sensor, a speed reducer, a brake mechanism, an eddy current loader, a tested active and passive torsion damper and an industrial personal computer. The speed regulation motor provides power for the test platform, the speed reducer adjusts the rotating speed and torque output by the speed regulation motor, the tested active and passive torsion damper jointly provides a damping effect, the brake mechanism comprises a brake shaft, a brake disc and a brake and provides a brake state for the test platform, and the eddy current loader applies torque to the brake shaft to simulate road resistance torque. The industrial personal computer monitors information collected by the sensors in real time and controls the controllers. According to the testing method, the testing platform can be used for testing the vibration damping performance of the active and passive torsion vibration damper. According to the invention, the test requirements of users can be met, and the performance of active and passive torsion dampers can be tested simultaneously under different working conditions.

The invention discloses a driving mechanism, an actuator, a covering cap assembly and a vehicle. The driving mechanism comprises a motor and a resistance torque applying assembly. The motor comprises a motor shaft. The resistance torque applying assembly is configured to apply a first resistance torque to the motor shaft when the motor shaft rotates in the first rotating direction, and does not apply the resistance torque to the motor shaft when the motor shaft rotates in the second rotating direction; or, the first resistance torque is applied to the motor shaft when the motor shaft rotates in the first rotating direction, and the second resistance torque is applied to the motor shaft when the motor shaft rotates in the second rotating direction. The first rotation direction is opposite to the second rotation direction. The first resistance torque is greater than the second resistance torque. Thus, when the motor is not powered on, the motor shaft rotating in the first rotation direction can be self-locked under the action of the first resistance moment, and the motor shaft rotating in the second rotation direction is not subjected to resistance or continues to rotate under the action of the smaller second resistance moment.

The invention belongs to the technical field of carry-scraper control, and discloses a self-adaptive control method for cable dragging torque of an electric carry-scraper. Comprising the steps of collecting cable comprehensive data; preprocessing the cable comprehensive data to obtain a state code set; based on the state code set, utilizing an improved cell algorithm to predict and obtain an ideal dragging torque value of the cable; positioning a difference region based on the ideal drag torque value; constructing a directed graph model based on the difference region; based on the directed graph model, the control parameters of the electric carry-scraper are adaptively adjusted, so that the dragging torque of the cable gradually approaches to an ideal value, adaptive control is realized, the intelligent level, the accuracy and the stability of control are remarkably improved, and the working efficiency and the safety of electric carry-scraper equipment are improved.

The utility model relates to a dragging torque testing device which comprises a base, a motor, a hub flange and a torque telemetering device, the motor, the hub flange and the torque telemetering device are supported on the base, the hub flange is in transmission connection with the motor, and the hub flange is in transmission connection with the torque telemetering device. The hub flange comprises a matching part and a connecting part, the matching part is used for being connected with an inner ring of a hub bearing of a to-be-tested vehicle in an inserted mode and synchronously rotating with the inner ring of the hub bearing, and the connecting part is used for being fixedly connected with a brake disc of the vehicle. The torque telemetering device is used for sensing the dragging torque between the hub bearing and calipers fixed to a vehicle body. The drag torque testing device provided by the utility model can test the drag torque value representing the hub bearing and the calipers in the actual working state of the vehicle.

This application discloses an engine starting control method and system under static conditions, relating to the field of hybrid electric vehicle technology. The method includes: calculating the engine resistance torque based on an engine starting kinematic model; constructing a state equation based on an engine starting dynamics model, using motor speed, engine speed, and driveshaft torque as state variables, motor torque as a control variable, engine resistance torque as a disturbance variable, and motor speed and engine speed as output variables; constructing a Luenberger-type system state observer; and performing speed curve trajectory tracking based on the Luenberger-type system state observer, a preset engine speed curve, and a preset motor speed curve to obtain the optimal control law, characterizing the optimal torque of the motor during the reverse drag starting process of the engine via the driveshaft. This application ensures rapid starting while reducing the peak torque of the driveshaft, effectively guaranteeing the reliability of the driveshaft.