[go: up one dir, main page]
More Web Proxy on the site http://driver.im/

CN113459824A - Electric vehicle shake suppression method and device, electric vehicle and storage medium - Google Patents

Electric vehicle shake suppression method and device, electric vehicle and storage medium Download PDF

Info

Publication number
CN113459824A
CN113459824A CN202010242483.1A CN202010242483A CN113459824A CN 113459824 A CN113459824 A CN 113459824A CN 202010242483 A CN202010242483 A CN 202010242483A CN 113459824 A CN113459824 A CN 113459824A
Authority
CN
China
Prior art keywords
rotating speed
motor
electric vehicle
motor rotating
parameter
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202010242483.1A
Other languages
Chinese (zh)
Other versions
CN113459824B (en
Inventor
胡荣光
戚邦圳
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Anhui Welling Auto Parts Co Ltd
Original Assignee
Anhui Welling Auto Parts Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Anhui Welling Auto Parts Co Ltd filed Critical Anhui Welling Auto Parts Co Ltd
Priority to CN202010242483.1A priority Critical patent/CN113459824B/en
Publication of CN113459824A publication Critical patent/CN113459824A/en
Application granted granted Critical
Publication of CN113459824B publication Critical patent/CN113459824B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The invention discloses a method and a device for inhibiting electric vehicle shaking, an electric vehicle and a storage medium, wherein the method comprises the following steps: acquiring the motor rotating speed of the electric automobile in real time; establishing a motor rotating speed model according to the motor rotating speed; identifying the motor rotating speed model by adopting a Kalman filtering algorithm to obtain a parameter to be identified of the motor rotating speed model; reconstructing the motor rotating speed model according to the parameters to be identified to obtain the rotating speed jitter amount; generating a torque compensation value according to the rotating speed jitter amount; and superposing the torque compensation value with the given torque to suppress the electric vehicle shake. The method adopts a Kalman filtering algorithm to identify the established motor rotating speed model, further generates a torque compensation value according to the rotating speed jitter amount obtained from the identification result, and superposes the torque compensation value and the given torque to control the motor, so that the jitter of the electric automobile can be effectively inhibited, the riding comfort is improved, the working performance of a transmission system is improved, and the service life of the transmission system is prolonged.

Description

Electric vehicle shake suppression method and device, electric vehicle and storage medium
Technical Field
The invention relates to the technical field of automobiles, in particular to a method and a device for inhibiting electric automobile shaking, an electric automobile and a storage medium.
Background
The pure electric vehicle mostly adopts a power assembly form of integrated driving of a motor and a transmission, and wheels are driven through a secondary gear, a reduction/differential mechanism and left and right half shafts. The direct coupling and constant meshing structure is beneficial to obtaining better acceleration performance, but simultaneously brings the problem of shafting vibration. The vibration is particularly obvious when the motor torque changes rapidly, specifically, a large positive/negative torque is suddenly added during sudden acceleration/deceleration, and torque interference caused by external factors in the shafting transmission process is avoided. Because the output torque of the motor can be directly controlled by the controller according to the torque instruction, the rotating speed of the motor is jointly determined by the torque of the motor and the shafting transmission system. Therefore, the shafting vibration is embodied in the motor rotation speed jitter, which can seriously affect the riding comfort of the electric automobile.
In order to solve the problems, a pure electric vehicle anti-shake control system based on a second-order band-pass filter is provided in the related art. Because the rotating speed jitter frequency is low, the second-order filter has a limited effect of inhibiting the direct current offset of the rotating speed jitter amount, so that the compensation torque also has a direct current component, the final torque output has errors, and the torque output capability is influenced.
The related technology also provides a method for inhibiting the electric vehicle shake based on the compensation torque obtained by the differential inertia link and the band-pass filtering link. The method can well inhibit direct current bias, but phase bias is generated at the dithering frequency, so that the fed back alternating current component cannot synchronously follow the dithering of the rotating speed, and the inhibition effect on the dithering of the rotating speed is limited.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, an object of the present invention is to provide a method for suppressing electric vehicle judder, so as to suppress electric vehicle judder, thereby improving riding comfort, and improving working performance and service life of a transmission system.
A second object of the invention is to propose a computer-readable storage medium.
The third purpose of the invention is to provide a shake suppression device for an electric vehicle.
The fourth purpose of the invention is to provide an electric automobile.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a method for suppressing shaking of an electric vehicle, including the following steps: acquiring the motor rotating speed of the electric automobile in real time; establishing a motor rotating speed model according to the motor rotating speed; identifying the motor rotating speed model by adopting a Kalman filtering algorithm to obtain a parameter to be identified of the motor rotating speed model; reconstructing the motor rotating speed model according to the parameter to be identified to obtain a rotating speed jitter amount; generating a torque compensation value according to the rotating speed jitter amount; and superposing the torque compensation value and a given torque to suppress the electric vehicle shake.
According to the method for suppressing the electric vehicle shaking, firstly, a motor rotating speed model is established according to the obtained motor rotating speed, then a Kalman filtering algorithm is adopted to recognize the motor rotating speed model to obtain the parameters to be recognized of the motor rotating speed model, the motor rotating speed model is reconstructed according to the parameters to be recognized to obtain the rotating speed shaking amount, a torque compensation value is generated according to the rotating speed shaking amount, the torque compensation value is overlapped with the given torque to control the motor, the electric vehicle shaking can be effectively suppressed, the riding comfort is improved, and the working performance and the service life of a transmission system are improved.
In addition, the electric vehicle shaking suppression method provided by the embodiment of the invention can also have the following additional technical characteristics:
according to an embodiment of the present invention, the parameter to be identified includes a dc component amplitude parameter and an ac component amplitude parameter of the motor rotation speed, and the rotation speed jitter amount is obtained according to the dc component amplitude parameter and the motor rotation speed model, or is obtained according to the ac component amplitude parameter of the motor rotation speed.
According to an embodiment of the present invention, the establishing a motor rotation speed model according to the motor rotation speed includes: determining the number of the rotating speed dithering frequencies according to the rotating speed of the motor; and establishing the motor rotating speed model according to the number.
According to an embodiment of the present invention, if the number is 1, the motor rotation speed model is
Figure BDA0002433019360000021
Wherein phi isk T＝[sinωtk cosωtk 1]，
Figure BDA0002433019360000022
tkIs time, omega is the rotational speed dithering frequency, ak、bkAs said alternating component parameter, ckIs the direct current component parameter; if the number is 2, the motor rotating speed model is
Figure BDA0002433019360000023
Wherein phi isk T＝[sinω1tk cosω1tk sinω2tk cosω2tk 1]，
Figure BDA0002433019360000024
tkIs time, ω1At a first rotational speed dither frequency, ω2Is the second rotational speed dithering frequency, a1k、b1k、a2k、b2kIs the AC component parameter, c'kIs the direct current component parameter.
According to an embodiment of the present invention, if the number is 1, then by formula yac＝yk-ckObtaining the alternating current component of the motor rotating speed or obtaining the alternating current component of the motor rotating speed through a formula yac＝aksinωtk+bk cosωtkObtaining an alternating current component of the rotating speed of the motor; if the number is 2, the number is determined by the formula yac＝yk-c′kObtaining the alternating current component of the motor rotating speed or obtaining the alternating current component of the motor rotating speed through a formula yac＝a1ksinω1tk+b1k cosω1tk+a2ksinω2tk+b2k cosω2tkAnd obtaining the alternating current component of the rotating speed of the motor.
In order to achieve the above object, a second embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the above-mentioned electric vehicle shaking suppression method.
According to the computer-readable storage medium of the embodiment of the invention, when the computer program stored thereon and corresponding to the electric vehicle shake suppression method is executed by the processor, shake of the electric vehicle can be effectively suppressed, so that riding comfort is improved, and working performance and service life of the transmission system are improved.
In order to achieve the above object, a third aspect of the present invention provides a shake suppression device for an electric vehicle, including: the acquisition module is used for acquiring the motor rotating speed of the electric automobile in real time; the modeling module is used for establishing a motor rotating speed model according to the motor rotating speed; the identification module is used for identifying the motor rotating speed model by adopting a Kalman filtering algorithm so as to obtain a parameter to be identified of the motor rotating speed model; the reconstruction module is used for reconstructing the motor rotating speed model according to the parameter to be identified so as to obtain the rotating speed jitter amount; the generating module is used for generating a torque compensation value according to the rotating speed jitter amount; and the control module is used for superposing the torque compensation value and the given torque so as to inhibit the electric automobile shake.
According to the electric vehicle shake suppression device, firstly, a motor rotating speed model is established according to the obtained motor rotating speed, then the motor rotating speed model is identified by adopting a Kalman filtering algorithm to obtain the parameters to be identified of the motor rotating speed model, the motor rotating speed model is reconstructed according to the parameters to be identified to obtain the rotating speed shake amount, a torque compensation value is generated according to the rotating speed shake amount, and the torque compensation value is superposed with the given torque to control the motor, so that the electric vehicle shake can be effectively suppressed, the riding comfort is improved, the working performance of a transmission system is improved, and the service life of the transmission system is prolonged.
In addition, the electric vehicle shake suppression device according to the embodiment of the present invention may further have the following additional technical features:
according to an embodiment of the present invention, the parameter to be identified includes a dc component amplitude parameter and an ac component amplitude parameter of the motor rotation speed, and the rotation speed jitter amount is obtained according to the dc component amplitude parameter and the motor rotation speed model, or is obtained according to the ac component amplitude parameter of the motor rotation speed.
According to an embodiment of the invention, the modeling module is specifically configured to: determining the number of the rotating speed dithering frequencies according to the rotating speed of the motor; and establishing the motor rotating speed model according to the number.
In order to achieve the above object, a fourth aspect of the present invention provides an electric vehicle, which includes the electric vehicle shake suppression device in the above embodiment.
According to the electric automobile provided by the embodiment of the invention, through the electric automobile shake suppression device, the shake of the electric automobile can be effectively suppressed, so that the riding comfort is improved, the working performance of a transmission system is improved, and the service life of the transmission system is prolonged.
Drawings
FIG. 1 is a schematic flow chart of a method for suppressing electric vehicle judder according to an embodiment of the invention;
FIG. 2 is a block diagram of a motor control system according to an embodiment of the present invention;
FIG. 3 is a flow chart of a Kalman filtering algorithm of one embodiment of the present invention;
FIG. 4 is a graph of output torque and speed response for a sudden change in torque without torque compensation;
FIG. 5 is a graph of output torque and speed response for a sudden change in torque when torque compensation is performed using the method of the present invention;
FIG. 6 is a graph of on-axis torque and rotational speed corresponding to load disturbances without torque compensation;
FIG. 7 is a graph of the on-axis torque and rotational speed response to load disturbances during torque compensation using the method of the present invention;
FIG. 8 is a block diagram of an electric vehicle shake suppression device according to an embodiment of the present invention;
fig. 9 is a block diagram of the electric vehicle according to the embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
Fig. 1 is a schematic flow chart of a method for suppressing electric vehicle judder according to an embodiment of the invention.
As shown in fig. 1, the method for suppressing electric vehicle shake includes the following steps:
and S1, acquiring the motor speed of the electric automobile in real time.
As shown in fig. 2, the motor speed ωmCan be acquired by a rotary encoder.
And S2, establishing a motor rotating speed model according to the motor rotating speed.
And S3, identifying the motor rotating speed model by adopting a Kalman filtering algorithm to obtain the to-be-identified parameters of the motor rotating speed model.
The parameters to be identified comprise a direct current component amplitude parameter and an alternating current component amplitude parameter of the rotating speed of the motor.
And S4, reconstructing the motor rotating speed model according to the parameters to be identified to obtain the rotating speed jitter amount.
The rotating speed jitter amount is obtained according to the direct current component amplitude parameter and the motor rotating speed model, or is obtained according to the alternating current component of the motor rotating speed obtained according to the alternating current component amplitude parameter.
S5, a torque compensation value is generated based on the rotation speed shake amount.
As an example, referring to fig. 2, steps S2 to S5 may be implemented by a torque compensator, wherein the torque compensator includes a gain unit, a signal reconstruction unit, and a kalman filter unit in cascade.
Specifically, the direct current component amplitude parameter and the alternating current component amplitude parameter of the motor rotating speed can be calculated through the Kalman filtering unit according to the motor rotating speed; obtaining an alternating current component of the motor rotating speed according to the direct current component amplitude parameter and the motor rotating speed through a signal reconstruction unit, or obtaining the alternating current component of the motor rotating speed according to the alternating current component amplitude parameter; a torque compensation value is generated by a gain unit according to an alternating current component of the motor speed.
And S6, superposing the torque compensation value with the given torque to suppress the electric vehicle shake.
In this embodiment, referring to fig. 2, an initial torque command, i.e., a given torque T, is received from a VCU (Vehicle control unit) or a rotational speed control unite *Then, a current command is sent out through a torque control unit
Figure BDA0002433019360000051
Then sends out a voltage command through the current control unit
Figure BDA0002433019360000052
And outputting an inverter switching signal to an SVPWM (Space Vector Pulse Width Modulation) module. The inverter outputs a PWM (Pulse Width Modulation) voltage, generates a current in a motor winding, and outputs a torque. The motor rotor shaft is connected with a traditional system consisting of a gear and a reduction/differential mechanism, and transmits torque to a wheel shaft to drive wheels of the electric automobile to rotate. The mutual coupling action of the motor and the mechanical transmission system enables the motor torque to have a resonance frequency in the process of generating the rotating speed, namely the gain at the frequency is a maximum value point, and the phase offset is zero. When the torque is suddenly increased/decreased, the rotating speed of the motor is easy to shake, and the riding comfort is affected.
In order to realize the suppression of the rotating speed jitter, the invention carries out online regulation on the given torque based on the rotating speed of the motor, and the final torque instruction is composed of an initial torque instruction (namely the given torque T)e *) And generating a superimposed torque compensation value, and outputting an actual torque consistent with the final torque command by the driving motor.
In order to ensure that the final output torque does not deviate from the initial torque command, i.e. no steady-state error is generated, the torque compensation value should be an alternating variable without direct current offset, so the phase of the alternating variable needs to be controlled to ensure the correct implementation of the rotation speed feedback. Referring to fig. 2, a torque compensation value Δ T is calculated by the torque compensator based on the rotational speedeIn particularIn order to calculate system parameters through an EKF unit (namely, a Kalman filtering unit), an alternating current component of a rotating speed jitter amount, namely a motor rotating speed, is obtained through a signal reconstruction unit, and is processed through a gain unit (namely, the alternating current component is multiplied by a gain coefficient A, wherein A is a negative value), a torque compensation value is obtained, and the phase of the torque compensation value is not changed. Further, in the judder suppression control, the torque compensation value Δ T is seteWith a given torque Te *The final control torque T is obtained after superpositione **. Therefore, the rotating speed jitter can be effectively inhibited, the jitter of the electric automobile is inhibited, the riding comfort is improved, the working performance of a transmission system is improved, and the service life of the transmission system is prolonged.
In an embodiment of the present invention, calculating the dc component amplitude parameter and the ac component amplitude parameter of the motor speed according to the motor speed may include: determining the number of the rotating speed dithering frequencies according to the rotating speed of the motor; setting a state transition equation theta according to the numberk＝Aθk-1+wkAnd motor speed observation equation yk＝Cθk+vkWhere k is the kth sample point, θkIs a state variable, ykAs observed values of the rotational speed of the motor, wkAs state transition noise, wk～(0,Q)，vkTo observe noise, vk(0, R), A is a state transition matrix with a value of 1, C is an observation matrix, and thetakThe forms of C and C are set according to the number; calculating to obtain a direct current component amplitude parameter and an alternating current component amplitude parameter by the following formula (1):
Figure BDA0002433019360000061
wherein, thetak|k-1To predict state variables, Pk|k-1To predict error covariance, θk|kFor updated estimated variables, KkTo Kalman gain, Pk|kFor updated error covariance, C.thetak|k-1To predict the motor speed, I is an identity matrix.
It should be noted that the sampling frequency of the motor rotation speed and the calculation frequency of the torque compensator are consistent with the execution frequency of the motor control algorithm, and may be 10kHz, for example.
Specifically, the rotating speed jitter frequency and the number thereof can be obtained according to the waveform of the rotating speed of the motor, and the rotating speed jitter frequency can be calibrated off line or obtained on line through Fourier analysis. Because the rotating speed jitter frequency is generally far lower than the calculation frequency, the parameter identification can be carried out by the Kalman filtering unit by adopting a Kalman filtering algorithm. The kalman filter algorithm is a recursive optimal estimation theory, which adopts a state space description method, obtains the optimal estimation of the state variable by taking the linear minimum mean square error as an estimation criterion, updates the estimation of the state variable by using the estimation value of the previous moment and the observation value of the current moment, and obtains the estimation value of the current moment. The essence is that the system status is reproduced by recursion in the order of prediction-actual measurement-correction, eliminating random interference according to the measured value. The flow of the Kalman filtering algorithm is shown in FIG. 3, the rotation speed jitter frequency omega is obtained through off-line calibration or on-line Fourier analysis, and the state transition noise w is setkCovariance Q of (g) and observation noise vkOf (d) is determined. Further, the error covariance P is initialized0And a state variable theta0Combining with the actually measured motor speed y obtained by the first sampling1Can calculate P1|0And theta1|0According to P1|0And theta1|0Can calculate K1And further according to K1Can calculate P1|1And theta1|1(ii) a From P1|1And theta1|1Actually measured motor rotating speed y obtained by combining with secondary sampling2Can calculate P2|1And theta2|1According to P2|1And theta2|1Can calculate K2And further according to K2Can calculate P2|2And theta2|2And so on until the estimated value converges to the measured value, obtain the required thetak。
As an example, if the number is 1, C ═ sin ω tk cosωtk 1]，
Figure BDA0002433019360000062
tkIs time, and omega is rotational speed jitter frequencyRate, ak、bkAs a parameter of the AC component, ckIs a direct current component parameter.
In this example, since θkContains the amplitude and phase information of each frequency component, and thus can be represented by the formula yac＝yk-ckObtaining the alternating current component of the motor rotating speed, and also obtaining the alternating current component of the motor rotating speed through a formula yac＝ak sinωtk+bk cosωtkAnd obtaining the alternating current component of the rotating speed of the motor.
As an example, if the number is 2, then φk T＝[sinω1tk cosω1tk sinω2tk cosω2tk1]，
Figure BDA0002433019360000071
tkIs time, ω1At a first rotational speed dither frequency, ω2Is the second rotational speed dithering frequency, a1k、b1k、a2k、b2kIs a AC component parameter, c'kIs a direct current component parameter.
In this example, since θkContains the amplitude and phase information of each frequency component, and thus can be represented by the formula yac＝yk-c′kObtaining the alternating current component of the motor rotating speed, and also obtaining the alternating current component of the motor rotating speed through a formula yac＝a1ksinω1tk+b1k cosω1tk+a2ksinω2tk+b2k cosω2tkAnd obtaining the alternating current component of the rotating speed of the motor.
Therefore, the method can accurately calculate the real-time amplitude and phase of the alternating current component and the direct current component, separates out the required component through signal reconstruction, does not generate phase offset, further generates a torque compensation value, and controls the motor by superposing the given torque so as to inhibit jitter.
Of course, if the number of the rotational speed dithering frequencies is more, such as 3 or 4, similar expressions can be set in the same way, and then the corresponding alternating current component of the rotational speed of the motor can be obtained.
The following describes beneficial effects of the method for suppressing shaking of an electric vehicle according to an embodiment of the present invention with reference to fig. 4 to 7:
fig. 4 is a graph of output torque and speed response for a sudden change in torque without torque compensation. Referring to fig. 4, given a sudden increase in torque from 80Nm to 200Nm (a rate of change of 1000 Nm/s) and a sudden decrease to 100Nm, the motor speed produces significant jitter, and at the moment of sudden change in torque, the speed jitter is greatest, after which the jitter amplitude gradually attenuates. FIG. 5 is a graph of output torque and speed response for a sudden change in torque when torque compensation is performed using the method of the present invention. Referring to fig. 5, after the torque compensator of the present invention is added, the rotation speed at the moment of torque abrupt change can be kept to change relatively smoothly, and the jitter is obviously suppressed. The rotating speed is regulated to be stable after 0.3s, the output torque is not changed any more, and the rotating speed can be kept consistent with the torque instruction. Therefore, the electric vehicle shake suppression method can effectively suppress the shake of the electric vehicle, so that the riding comfort is improved, and the working performance and the service life of a transmission system are improved.
Rotational speed shudder may also be caused by torque and load disturbances on the driveline, as shown in fig. 6. The natural attenuation of the rotational speed jitter will also last longer without active torque compensation measures, whereas the rotational speed jitter will be better suppressed with the torque compensation method of the present invention, the result of which is shown in fig. 7. Therefore, the electric vehicle shake suppression method can effectively suppress the shake of the electric vehicle, so that the riding comfort is improved, and the working performance and the service life of a transmission system are improved.
In conclusion, the electric vehicle shake suppression method provided by the embodiment of the invention can effectively suppress the rotation speed shake of the electric vehicle, so that the riding comfort of the electric vehicle is improved, and meanwhile, the working performance and the service life of a transmission system can be improved.
Based on the method for suppressing the electric vehicle shaking of the embodiment, the invention further provides a computer readable storage medium.
In this embodiment, a computer program is stored on a computer-readable storage medium, and when the computer program is executed by a processor, the method for suppressing the shaking of the electric vehicle can be implemented.
According to the computer-readable storage medium of the embodiment of the invention, when the computer program stored thereon and corresponding to the electric vehicle shake suppression method is executed by the processor, shake of the electric vehicle can be effectively suppressed, so that riding comfort is improved, and working performance and service life of the transmission system are improved.
Fig. 8 is a block diagram of the electric vehicle shake suppression device according to the embodiment of the present invention.
As shown in fig. 8, the electric vehicle shaking suppression device 100 includes: an acquisition module 10, a modeling module 20, a recognition module 30, a reconstruction module 40, a generation module 50, and a control module 60.
The obtaining module 10 is used for obtaining the motor speed of the electric automobile in real time; the modeling module 20 is used for establishing a motor rotating speed model according to the motor rotating speed; the identification module 30 is configured to identify the motor rotation speed model by using a kalman filter algorithm to obtain a parameter to be identified of the motor rotation speed model; the reconstruction module 40 is used for reconstructing the motor rotating speed model according to the parameter to be identified so as to obtain the rotating speed jitter amount; the generating module 50 is used for generating a torque compensation value according to the rotating speed jitter amount; the control module 60 is configured to superimpose the torque compensation value with the given torque to suppress electric vehicle shudder.
The parameters to be identified comprise a direct current component amplitude parameter and an alternating current component amplitude parameter of the motor rotating speed; the rotating speed jitter amount is obtained according to the direct current component amplitude parameter and the motor rotating speed model, or the alternating current component of the motor rotating speed is obtained according to the alternating current component amplitude parameter.
Specifically, as shown in fig. 2, the obtaining module 10 may obtain the motor rotation speed ω through the acquisition of a rotary encoderm. The modeling module 20, the identification module 30, the reconstruction module 40, and the generation module 50 may all be implemented by a torque compensator as shown in fig. 2, which includes a gain unit, a signal reconstruction unit, and a kalman filtering unit in cascade. Wherein, the direct current component amplitude parameter and the alternating current of the motor rotating speed can be calculated by the Kalman filtering unit according to the motor rotating speedA component amplitude parameter; then, obtaining an alternating current component of the motor rotating speed according to the direct current component amplitude parameter and the motor rotating speed through a signal reconstruction unit, or obtaining the alternating current component of the motor rotating speed according to the alternating current component amplitude parameter; and finally, generating a torque compensation value according to the alternating current component of the rotating speed of the motor through a gain unit.
In this embodiment, referring to fig. 2, an initial torque command, i.e., a given torque T, is received from a VCU (Vehicle control unit) or a rotational speed control unite *Then, a current command is sent out through a torque control unit
Figure BDA0002433019360000081
Then sends out a voltage command through the current control unit
Figure BDA0002433019360000082
And outputting an inverter switching signal to an SVPWM (Space Vector Pulse Width Modulation) module. The inverter outputs a PWM (Pulse Width Modulation) voltage, generates a current in a motor winding, and outputs a torque. The motor rotor shaft is connected with a traditional system consisting of a gear and a reduction/differential mechanism, and transmits torque to a wheel shaft to drive wheels of the electric automobile to rotate. The mutual coupling action of the motor and the mechanical transmission system enables the motor torque to have a resonance frequency in the process of generating the rotating speed, namely the gain at the frequency is a maximum value point, and the phase offset is zero. When the torque is suddenly increased/decreased, the rotating speed of the motor is easy to shake, and the riding comfort is affected.
In order to realize the suppression of the rotating speed jitter, the invention carries out online regulation on the given torque based on the rotating speed of the motor, and the final torque instruction is composed of an initial torque instruction (namely the given torque T)e *) And generating a superimposed torque compensation value, and outputting an actual torque consistent with the final torque command by the driving motor.
In order to ensure that the final output torque does not deviate from the initial torque command, i.e. no steady-state error is generated, the torque compensation value should be an alternating variable without direct current offset, so the phase of the alternating variable needs to be controlled to ensure the correct implementation of the rotation speed feedback. See alsoFIG. 2, calculation of the torque compensation value Δ T by the torque compensator based on the rotational speedeSpecifically, system parameters are calculated through an EKF (i.e., a kalman filter unit), an alternating current component of a rotational speed jitter amount, i.e., a rotational speed of the motor, is obtained through a signal reconstruction unit, and the alternating current component is processed through a gain unit (i.e., multiplied by a gain coefficient a, where a is a negative value), so that a torque compensation value is obtained without changing a phase thereof. Further, in the judder suppression control, the torque compensation value Δ T is seteWith a given torque Te *The final control torque T is obtained after superpositione **. Therefore, the rotating speed jitter can be effectively inhibited, the jitter of the electric automobile is inhibited, the riding comfort is improved, the working performance of a transmission system is improved, and the service life of the transmission system is prolonged.
In one embodiment of the present invention, calculating the dc component amplitude parameter and the ac component amplitude parameter of the motor speed according to the motor speed includes: determining the number of the rotating speed dithering frequencies according to the rotating speed of the motor; setting a state transition equation theta according to the numberk＝Aθk-1+wkAnd motor speed observation equation yk＝Cθk+vkWhere k is the kth sample point, θkIs a state variable, ykAs observed values of the rotational speed of the motor, wkAs state transition noise, wk～(0,Q)，vkTo observe noise, vk(0, R), A is a state transition matrix with a value of 1, C is an observation matrix, and thetakThe forms of C and C are set according to the number; calculating to obtain a direct current component amplitude parameter and an alternating current component amplitude parameter by the following formula:
Figure BDA0002433019360000091
wherein, thetak|k-1To predict state variables, Pk|k-1To predict error covariance, θk|kFor updated estimated variables, KkTo Kalman gain, Pk|kFor updated error covariance, C.thetak|k-1To predict the motor speed, I is an identity matrix.
It should be noted that the sampling frequency of the motor rotation speed and the calculation frequency of the torque compensator are consistent with the execution frequency of the motor control algorithm, and may be 10kHz, for example.
Specifically, the rotating speed jitter frequency and the number thereof can be obtained according to the waveform of the rotating speed of the motor, and the rotating speed jitter frequency can be calibrated off line or obtained on line through Fourier analysis. Because the rotating speed jitter frequency is generally far lower than the calculation frequency, the parameter identification can be carried out by the Kalman filtering unit by adopting a Kalman filtering algorithm. The kalman filter algorithm is a recursive optimal estimation theory, which adopts a state space description method, obtains the optimal estimation of the state variable by taking the linear minimum mean square error as an estimation criterion, updates the estimation of the state variable by using the estimation value of the previous moment and the observation value of the current moment, and obtains the estimation value of the current moment. The essence is that the system status is reproduced by recursion in the order of prediction-actual measurement-correction, eliminating random interference according to the measured value.
The flow of the Kalman filtering algorithm is shown in FIG. 3, the rotation speed jitter frequency omega is obtained through off-line calibration or on-line Fourier analysis, and the state transition noise w is setkCovariance Q of (g) and observation noise vkOf (d) is determined. Further, the error covariance P is initialized0And a state variable theta0Combining with the actually measured motor speed y obtained by the first sampling1Can calculate P1|0And theta1|0According to P1|0And theta1|0Can calculate K1And further according to K1Can calculate P1|1And theta1|1(ii) a From P1|1And theta1|1Actually measured motor rotating speed y obtained by combining with secondary sampling2Can calculate P2|1And theta2|1According to P2|1And theta2|1Can calculate K2And further according to K2Can calculate P2|2And theta2|2And so on until the estimated value converges to the measured value, obtain the required thetak。
As an example, if the number is 1, C ═ sin ω tk cosωtk 1]，
Figure BDA0002433019360000101
tkIs time, omega is rotational speed dithering frequency, ak、bkAs a parameter of the AC component, ckIs a direct current component parameter.
In this example, since θkContains the amplitude and phase information of each frequency component, and thus can be represented by the formula yac＝yk-ckObtaining the alternating current component of the motor rotating speed, and also obtaining the alternating current component of the motor rotating speed through a formula yac＝ak sinωtk+bk cosωtkAnd obtaining the alternating current component of the rotating speed of the motor.
As an example, if the number is 2, then φk T＝[sinω1tk cosω1tk sinω2tk cosω2tk1]，
Figure BDA0002433019360000102
tkIs time, ω1At a first rotational speed dither frequency, ω2Is the second rotational speed dithering frequency, a1k、b1k、a2k、b2kIs a AC component parameter, c'kIs a direct current component parameter.
In this example, since θkContains the amplitude and phase information of each frequency component, and thus can be represented by the formula yac＝yk-c′kObtaining the alternating current component of the motor rotating speed, and also obtaining the alternating current component of the motor rotating speed through a formula yac＝a1k sinω1tk+b1k cosω1tk+a2k sinω2tk+b2k cosω2tkAnd obtaining the alternating current component of the rotating speed of the motor.
Therefore, the method can accurately calculate the real-time amplitude and phase of the alternating current component and the direct current component, separates out the required component through signal reconstruction, does not generate phase offset, further generates a torque compensation value, and controls the motor by superposing the given torque so as to inhibit jitter.
Of course, if the number of the rotational speed dithering frequencies is more, such as 3 or 4, similar expressions can be set in the same way, and then the corresponding alternating current component of the rotational speed of the motor can be obtained.
The following describes beneficial effects of the electric vehicle shake suppression device according to the embodiment of the present invention with reference to fig. 4 to 7:
fig. 4 is a graph of output torque and speed response without torque compensation. Referring to fig. 4, given a sudden increase in torque from 80Nm to 200Nm (a rate of change of 1000 Nm/s) and a sudden decrease to 100Nm, the motor speed produces significant jitter, and at the moment of sudden change in torque, the speed jitter is greatest, after which the jitter amplitude gradually attenuates. FIG. 5 is a graph of output torque and speed response for torque compensation using the method of the present invention. Referring to fig. 5, after the torque compensator of the present invention is added, the rotation speed at the moment of torque abrupt change can be kept to change relatively smoothly, and the jitter is obviously suppressed. The rotating speed is regulated to be stable after 0.3s, the output torque is not changed any more, and the rotating speed can be kept consistent with the torque instruction. Therefore, the electric vehicle shake suppression device can effectively suppress the shake of the electric vehicle, so that the riding comfort is improved, and the working performance and the service life of a transmission system are improved.
Rotational speed shudder may also be caused by torque and load disturbances on the driveline, as shown in fig. 6. The natural attenuation of the rotational speed jitter will also last longer without active torque compensation measures, whereas the rotational speed jitter will be better suppressed with the torque compensation method of the present invention, the result of which is shown in fig. 7. Therefore, the electric vehicle shake suppression device can effectively suppress the shake of the electric vehicle, so that the riding comfort is improved, and the working performance and the service life of a transmission system are improved.
In conclusion, the electric vehicle shake suppression device provided by the embodiment of the invention can effectively suppress the rotation speed shake of the electric vehicle, so that the riding comfort of the electric vehicle is improved, and meanwhile, the working performance and the service life of a transmission system can be improved.
Fig. 9 is a block diagram of the electric vehicle according to the embodiment of the present invention.
As shown in fig. 9, an electric vehicle 1000 includes the electric vehicle shake suppression apparatus 100 according to the embodiment. Of course, referring to fig. 2, the electric vehicle further includes an electric motor and a transmission system.
According to the electric automobile provided by the embodiment of the invention, the electric automobile shake suppression device can effectively suppress the rotation speed shake of the electric automobile, so that the riding comfort of the electric automobile is improved, and meanwhile, the working performance and the service life of a transmission system can be improved.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (10)

1. The electric vehicle shaking suppression method is characterized by comprising the following steps:
acquiring the motor rotating speed of the electric automobile in real time;
establishing a motor rotating speed model according to the motor rotating speed;
identifying the motor rotating speed model by adopting a Kalman filtering algorithm to obtain a parameter to be identified of the motor rotating speed model;
reconstructing the motor rotating speed model according to the parameter to be identified to obtain a rotating speed jitter amount;
generating a torque compensation value according to the rotating speed jitter amount;
and superposing the torque compensation value and a given torque to suppress the electric vehicle shake.
2. The method for suppressing electric vehicle judder according to claim 1, wherein the parameter to be identified comprises a dc component amplitude parameter and an ac component amplitude parameter of a motor speed, and the rotational speed judder is obtained according to the dc component amplitude parameter and the motor speed model, or is obtained according to the ac component amplitude parameter of the motor speed.
3. The method for suppressing electric vehicle judder according to claim 1, wherein the establishing a motor speed model according to the motor speed comprises:
determining the number of the rotating speed dithering frequencies according to the rotating speed of the motor;
and establishing the motor rotating speed model according to the number.
4. The method for suppressing electric vehicle judder according to claim 3,
if the number is 1, the motor rotating speed model is
Figure FDA0002433019350000011
Wherein phi isk T＝[sinωtk cosωtk 1]，
Figure FDA0002433019350000012
tkIs time, omega is the rotational speed dithering frequency, ak、bkAs said alternating component parameter, ckIs the direct current component parameter;
if the number is 2, the motor rotating speed model is
Figure FDA0002433019350000013
Wherein phi isk T＝[sinω1tk cosω1tk sinω2tk cosω2tk 1]，
Figure FDA0002433019350000014
tkIs time, ω1At a first rotational speed dither frequency, ω2Is the second rotational speed dithering frequency, a1k、b1k、a2k、b2kIs the AC component parameter, c'kIs the direct current component parameter.
5. The method for suppressing electric vehicle shake according to claim 4, wherein if the number is 1, the formula y is usedac＝yk-ckObtaining the alternating current component of the motor rotating speed or obtaining the alternating current component of the motor rotating speed through a formula yac＝aksinωtk+bkcosωtkObtaining an alternating current component of the rotating speed of the motor;
if the number is 2, the number is determined by the formula yac＝yk-c′kObtaining the alternating current component of the motor rotating speed or obtaining the alternating current component of the motor rotating speed through a formula yac＝a1ksinω1tk+b1kcosω1tk+a2ksinω2tk+b2kcosω2tkAnd obtaining the alternating current component of the rotating speed of the motor.
6. A computer-readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the electric vehicle shaking suppression method according to any one of claims 1 to 5.
7. An electric vehicle shake suppression device, comprising:
the acquisition module is used for acquiring the motor rotating speed of the electric automobile in real time;
the modeling module is used for establishing a motor rotating speed model according to the motor rotating speed;
the identification module is used for identifying the motor rotating speed model by adopting a Kalman filtering algorithm so as to obtain a parameter to be identified of the motor rotating speed model;
the reconstruction module is used for reconstructing the motor rotating speed model according to the parameter to be identified so as to obtain the rotating speed jitter amount;
the generating module is used for generating a torque compensation value according to the rotating speed jitter amount;
and the control module is used for superposing the torque compensation value and the given torque so as to inhibit the electric automobile shake.
8. The apparatus according to claim 7, wherein the parameter to be identified includes a dc component amplitude parameter and an ac component amplitude parameter of a motor speed, and the rotational speed jitter amount is obtained according to the dc component amplitude parameter and the motor speed model, or is obtained according to the ac component amplitude parameter.
9. The electric vehicle judder suppression device according to claim 8, wherein the modeling module is specifically configured to:
determining the number of the rotating speed dithering frequencies according to the rotating speed of the motor;
and establishing the motor rotating speed model according to the number.
10. An electric vehicle characterized by comprising the electric vehicle shake suppression apparatus according to any one of claims 7 to 9.
CN202010242483.1A 2020-03-31 2020-03-31 Method and device for suppressing jitter of electric automobile, electric automobile and storage medium Active CN113459824B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010242483.1A CN113459824B (en) 2020-03-31 2020-03-31 Method and device for suppressing jitter of electric automobile, electric automobile and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010242483.1A CN113459824B (en) 2020-03-31 2020-03-31 Method and device for suppressing jitter of electric automobile, electric automobile and storage medium

Publications (2)

Publication Number Publication Date
CN113459824A true CN113459824A (en) 2021-10-01
CN113459824B CN113459824B (en) 2023-04-28

Family

ID=77866013

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010242483.1A Active CN113459824B (en) 2020-03-31 2020-03-31 Method and device for suppressing jitter of electric automobile, electric automobile and storage medium

Country Status (1)

Country Link
CN (1) CN113459824B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114347801A (en) * 2022-01-17 2022-04-15 浙江吉利控股集团有限公司 Motor torque control method and control device

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012005269A (en) * 2010-06-18 2012-01-05 Meidensha Corp Controller and control method for torque ripple suppression of rotary electric machine
WO2012133799A1 (en) * 2011-03-30 2012-10-04 株式会社明電舎 Motor-ripple inhibiting apparatus and motor-ripple inhibiting method
CN103338003A (en) * 2013-06-28 2013-10-02 西安交通大学 Online simultaneous identifying method for load torque and inertia of motor
CN104392140A (en) * 2014-12-04 2015-03-04 北京四方继保自动化股份有限公司 Identification method for shaft-system torsional-vibration modal parameters of generator unit under environmental excitation
CN105946623A (en) * 2016-05-23 2016-09-21 北京新能源汽车股份有限公司 Anti-shake control method and system for electric automobile and electric automobile
CN106357192A (en) * 2016-09-05 2017-01-25 桂林电子科技大学 Method and system for lowering torque pulsation of switched reluctance motor by current adaptive control
CN108068659A (en) * 2017-11-08 2018-05-25 华为技术有限公司 A kind of method, apparatus and system for inhibiting electric vehicle shake
CN109167546A (en) * 2018-09-25 2019-01-08 安徽大学 Asynchronous motor parameter online identification method based on data generation model
CN109787524A (en) * 2019-02-18 2019-05-21 北京理工大学 A kind of permanent magnet synchronous motor on-line parameter identification method

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012005269A (en) * 2010-06-18 2012-01-05 Meidensha Corp Controller and control method for torque ripple suppression of rotary electric machine
WO2012133799A1 (en) * 2011-03-30 2012-10-04 株式会社明電舎 Motor-ripple inhibiting apparatus and motor-ripple inhibiting method
CN103338003A (en) * 2013-06-28 2013-10-02 西安交通大学 Online simultaneous identifying method for load torque and inertia of motor
CN104392140A (en) * 2014-12-04 2015-03-04 北京四方继保自动化股份有限公司 Identification method for shaft-system torsional-vibration modal parameters of generator unit under environmental excitation
CN105946623A (en) * 2016-05-23 2016-09-21 北京新能源汽车股份有限公司 Anti-shake control method and system for electric automobile and electric automobile
CN106357192A (en) * 2016-09-05 2017-01-25 桂林电子科技大学 Method and system for lowering torque pulsation of switched reluctance motor by current adaptive control
CN108068659A (en) * 2017-11-08 2018-05-25 华为技术有限公司 A kind of method, apparatus and system for inhibiting electric vehicle shake
CN109167546A (en) * 2018-09-25 2019-01-08 安徽大学 Asynchronous motor parameter online identification method based on data generation model
CN109787524A (en) * 2019-02-18 2019-05-21 北京理工大学 A kind of permanent magnet synchronous motor on-line parameter identification method

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114347801A (en) * 2022-01-17 2022-04-15 浙江吉利控股集团有限公司 Motor torque control method and control device
CN114347801B (en) * 2022-01-17 2024-04-23 浙江吉利控股集团有限公司 Motor torque control method and control device

Also Published As

Publication number Publication date
CN113459824B (en) 2023-04-28

Similar Documents

Publication Publication Date Title
US5610483A (en) Control equipment for electric vehicle and control method thereof
CN104620497B (en) Control device for inverter and inverter control method
CN101981808B (en) Motor control device
JP5326429B2 (en) Electric motor pulsation suppression device
WO2007007387A1 (en) Controller of field winding type synchronous motor, electric drive system, electric four wheel driving vehicle, and hybrid automobile
CN108702118B (en) Method, angle determination device and control device
US11611305B2 (en) Bandwidth-partitioning harmonic regulation for improved acoustic behavior of an electric drive system
CN103210235A (en) Active vibration/noise suppression device
JP4419625B2 (en) Vehicle damping control device and vehicle damping control method
CN111713007B (en) Control system, method for producing and compensating for a control system, drive and power steering system
CN113459824A (en) Electric vehicle shake suppression method and device, electric vehicle and storage medium
CN113459823B (en) Method and device for suppressing jitter of electric automobile, electric automobile and storage medium
CN102751935B (en) Method for suppressing asynchronous motor interference under rotating speed open loop of electric car
CN109525153B (en) Drive device
CN113459822B (en) Method and device for suppressing jitter of electric automobile, electric automobile and storage medium
Ouddah et al. Experimental evaluation of second sliding modes observer and extended kalman filter in a sensorless robust control of switched reluctance motor for EV application
JP2012217284A (en) Vehicle motor control device
CN111713005B (en) Motor control system and power steering system
EP4125205A1 (en) System and method for damping of mechanical oscillaton of a rotor of an electric machine in a vehicle
KR101858180B1 (en) Method and apparatus for controlling electric motor of electric assist steering system
KR20220111194A (en) Method for noise reduction of a three-phase-driven electrical machine
CN109196773A (en) The control device and control method of motor
EP4065999A1 (en) Method and device for calibrating a controller of an electric machine
JP2024011931A (en) Electric-vehicular control method and electric-vehicular control apparatus
WO2023089787A1 (en) Electric motor control method and electric motor control device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant