CN113459830A - Vehicle shake suppression method and device, electronic device and computer storage medium - Google Patents
Vehicle shake suppression method and device, electronic device and computer storage medium Download PDFInfo
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- 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
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- 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
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- 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
- Y02T10/64—Electric machine technologies in electromobility
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- 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
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Abstract
The application provides a vehicle shaking suppression method, a device, an electronic device and a computer storage medium, wherein the vehicle shaking suppression method comprises the following steps: firstly, acquiring the rotating speed of a motor and the direct-axis current of a motor controller; then, determining a first disturbance factor according to the rotating speed of the motor; determining a second disturbance factor according to the direct-axis current of the motor controller; finally, determining a torque compensation value according to the first disturbance factor and the second disturbance factor; wherein the torque compensation value is used to suppress torque output. Therefore, the purposes of inhibiting the shaking and ensuring the comfort of the whole vehicle are achieved.
Description
Technical Field
The present application relates to the field of automobiles, and in particular, to a method and an apparatus for suppressing vehicle judder, an electronic device, and a computer storage medium.
Background
The pure electric bus power system is a comprehensive system coupled with each other in multiple fields, and relates to knowledge in related fields of machinery, electronics, control and the like.
However, when the system runs purely electrically, the motor torque response is sensitive, the torsional vibration of the transmission system is easy to occur under the rapid and large excitation of the driving torque and the disturbance, and meanwhile, the low-speed torque ripple of the motor also aggravates the buffeting amplitude, so that the driving comfort of the whole vehicle is seriously influenced.
Disclosure of Invention
In view of this, the present application provides a method and an apparatus for suppressing vehicle shake, an electronic device, and a computer storage medium, which can suppress the shake and ensure the comfort of the entire vehicle.
The first aspect of the present application provides a method for suppressing vehicle judder, including:
acquiring the rotating speed of a motor and the direct-axis current of a motor controller;
determining a first disturbance factor according to the motor rotating speed;
determining a second disturbance factor according to the direct-axis current of the motor controller;
determining a torque compensation value according to the first disturbance factor and the second disturbance factor; wherein the torque compensation value is used to suppress torque output.
Optionally, the determining a first disturbance factor according to the motor rotation speed includes:
carrying out mean value filtering processing on the rotating speed of the motor to obtain an initial value of first low-pass filtering;
carrying out low-pass filtering processing by using the initial value of the first low-pass filtering to obtain first low-pass filtering data;
taking a difference between the initial value of the first low-pass filtering and the first low-pass filtered data as first target filtered data;
carrying out mean value filtering processing on the first target filtering data to obtain an initial value of second low-pass filtering;
performing low-pass filtering processing by using the initial value of the second low-pass filtering to obtain second low-pass filtering data;
taking a difference between the initial value of the second low-pass filtering and the second low-pass filtered data as second target filtered data;
carrying out mean value filtering processing on the second target filtering data to obtain an initial value of third low-pass filtering;
performing low-pass filtering processing by using the initial value of the third low-pass filtering to obtain third low-pass filtering data;
and taking the difference between the initial value of the third low-pass filtering and the third low-pass filtering data as a first disturbance factor.
Optionally, the determining a second disturbance factor according to the direct axis current of the motor controller includes:
carrying out mean value filtering processing on the direct-axis current of the motor controller to obtain an initial value of fourth low-pass filtering;
performing low-pass filtering processing by using the initial value of the fourth low-pass filtering to obtain fourth low-pass filtering data;
taking a difference between the initial value of the fourth low-pass filtering and the fourth low-pass filtered data as third target filtered data;
carrying out mean value filtering processing on the third target filtering data to obtain an initial value of fifth low-pass filtering;
performing low-pass filtering processing by using the initial value of the fifth low-pass filtering to obtain fifth low-pass filtering data;
taking a difference between the initial value of the fifth low-pass filtering and the fifth low-pass filtered data as fourth target filtered data;
carrying out mean value filtering processing on the fourth target filtering data to obtain an initial value of sixth low-pass filtering;
performing low-pass filtering processing by using the initial value of the sixth low-pass filtering to obtain sixth low-pass filtering data;
and taking the difference between the initial value of the sixth low-pass filtering and the sixth low-pass filtering data as a second disturbance factor.
Optionally, the determining a torque compensation value according to the first disturbance factor and the second disturbance factor includes:
summing the product of the first disturbance factor and the proportional coefficient of the rotating speed disturbance quantity and the product of the second disturbance factor and the proportional coefficient of the current disturbance quantity to obtain a target torque;
and taking the product of the torque compensation value and the torque compensation direction as a torque compensation value.
A second aspect of the present application provides a management apparatus for caching data, including:
the acquisition unit is used for acquiring the rotating speed of the motor and the direct-axis current of the motor controller;
the first determining unit is used for determining a first disturbance factor according to the rotating speed of the motor;
the second determining unit is used for determining a second disturbance factor according to the direct-axis current of the motor controller;
a third determining unit, configured to determine a torque compensation value according to the first disturbance factor and the second disturbance factor; wherein the torque compensation value is used to suppress torque output.
Optionally, the first determining unit includes:
the first mean value filtering processing unit is used for carrying out mean value filtering processing on the rotating speed of the motor to obtain an initial value of first low-pass filtering;
the first low-pass filtering processing unit is used for carrying out low-pass filtering processing by using the initial value of the first low-pass filtering to obtain first low-pass filtering data;
a first calculation unit configured to take a difference between an initial value of the first low-pass filtering and the first low-pass filtered data as first target filtered data;
the first mean value filtering processing unit is further configured to perform mean value filtering processing on the first target filtering data to obtain an initial value of second low-pass filtering;
the first low-pass filtering processing unit is further configured to perform low-pass filtering processing on the initial value of the second low-pass filtering to obtain second low-pass filtering data;
the first calculation unit is further configured to use a difference between the initial value of the second low-pass filtering and the second low-pass filtered data as second target filtered data;
the first mean value filtering processing unit is further configured to perform mean value filtering processing on the second target filtering data to obtain an initial value of a third low-pass filtering;
the first low-pass filtering processing unit is further configured to perform low-pass filtering processing on the initial value of the third low-pass filtering to obtain third low-pass filtering data;
the first calculation unit is further configured to use a difference between the initial value of the third low-pass filtering and the third low-pass filtered data as a first perturbation factor.
Optionally, the second determining unit includes:
the second mean value filtering processing unit is used for carrying out mean value filtering processing on the direct-axis current of the motor controller to obtain an initial value of fourth low-pass filtering;
the second low-pass filtering processing unit is used for performing low-pass filtering processing by using the initial value of the fourth low-pass filtering to obtain fourth low-pass filtering data;
a second calculation unit configured to take a difference between the initial value of the fourth low-pass filtering and the fourth low-pass filtered data as third target filtered data;
the second mean value filtering processing unit is further configured to perform mean value filtering processing on the third target filtering data to obtain an initial value of a fifth low-pass filtering;
the second low-pass filtering processing unit is further configured to perform low-pass filtering processing on the fifth low-pass filtered initial value to obtain fifth low-pass filtered data;
the second calculation unit is further configured to use a difference between the initial value of the fifth low-pass filtering and the fifth low-pass filtered data as fourth target filtered data;
the second mean value filtering processing unit is further configured to perform mean value filtering processing on the fourth target filtering data to obtain an initial value of sixth low-pass filtering;
the second low-pass filtering processing unit is further configured to perform low-pass filtering processing on the sixth low-pass filtered initial value to obtain sixth low-pass filtered data;
the second calculation unit is further configured to use a difference between the initial value of the sixth low-pass filtering and the sixth low-pass filtered data as a second perturbation factor.
Optionally, the third determining unit includes:
the third calculation unit is used for summing the product of the first disturbance factor and the proportional coefficient of the rotating speed disturbance quantity and the product of the second disturbance factor and the proportional coefficient of the current disturbance quantity to obtain a target torque;
and the third determining subunit is used for taking the product of the torque compensation value and the torque compensation direction as the torque compensation value.
A third aspect of the present application provides an electronic device comprising:
one or more processors;
a storage device having one or more programs stored thereon;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method for suppressing vehicle shake according to any one of the first aspect.
A fourth aspect of the present application provides a computer storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method of suppressing vehicle shake according to any one of the first aspects.
As can be seen from the above, the present application provides a method, an apparatus, an electronic device, and a computer storage medium for suppressing vehicle shaking, where the method for suppressing vehicle shaking includes: firstly, acquiring the rotating speed of a motor and the direct-axis current of a motor controller; then, determining a first disturbance factor according to the rotating speed of the motor; determining a second disturbance factor according to the direct-axis current of the motor controller; finally, determining a torque compensation value according to the first disturbance factor and the second disturbance factor; wherein the torque compensation value is used to suppress torque output. Therefore, the purposes of inhibiting the shaking and ensuring the comfort of the whole vehicle are achieved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a specific flowchart of a method for suppressing vehicle judder according to an embodiment of the present application;
FIG. 2 is a detailed flowchart of a method for determining a first perturbation factor according to another embodiment of the present application;
FIG. 3 is a detailed flowchart of a method for determining a second perturbation factor according to another embodiment of the present application;
FIG. 4 is a detailed flow chart of a method for determining a torque compensation value according to another embodiment of the present application;
fig. 5 is a schematic diagram of a vehicle judder suppressing device according to another embodiment of the present application;
fig. 6 is a schematic diagram of an electronic device implementing a method for suppressing vehicle judder according to another embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first", "second", and the like, referred to in this application, are only used for distinguishing different devices, modules or units, and are not used for limiting the order or interdependence of functions performed by these devices, modules or units, but the terms "include", or any other variation thereof are intended to cover a non-exclusive inclusion, so that a process, method, article, or apparatus that includes a series of elements includes not only those elements but also other elements that are not explicitly listed, or includes elements inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The embodiment of the application provides a method for suppressing vehicle shaking, which specifically includes the following steps as shown in fig. 1:
and S101, acquiring the rotating speed of the motor and the direct-axis current of the motor controller.
Specifically, in the practical application process of the application, the rotating speed of the motor can be obtained in real time through a rotating speed sensor or can be obtained through a traveling computer; the direct axis current of the motor controller can be obtained in real time through the current sensor and can also be obtained through a traveling computer, the mode is quite diversified, and limitation is not made here.
S102, determining a first disturbance factor according to the rotating speed of the motor.
Optionally, in another embodiment of the present application, an implementation manner of step S102, as shown in fig. 2, includes:
s201, carrying out mean value filtering processing on the rotating speed of the motor to obtain an initial value of first low-pass filtering.
S202, carrying out low-pass filtering processing by using the initial value of the first low-pass filtering to obtain first low-pass filtering data.
Specifically, the low-pass filtering processing is performed on the initial value of the first low-pass filtering for the first time, and the following formula may be adopted to perform calculation, so as to obtain first low-pass filtered data:
y(t)＝u(t-1)+u(t-2)+…u(t-k)；
wherein, y (t) is first low-pass filtering data, and k is the number of sampling points for carrying out mean value filtering processing on the rotating speed of the motor; u (t) is the initial value of the first low pass filtering.
The low-pass filtering processing is performed on the initial value of the first low-pass filtering at the second time and later, and the following formula can be adopted to calculate, so as to obtain first low-pass filtered data:
y(t)＝dT*u(t)/T+(1-dT/T)*y(t-1)；
wherein dT is the scheduling time step; t is the filtering time.
S203, the difference between the initial value of the first low-pass filtering and the first low-pass filtered data is used as the first target filtered data.
Continuing with the above example, y2(t) ═ u (t) -y (t); where y2(t) is the first target filtered data.
And S204, carrying out mean value filtering processing on the first target filtering data to obtain an initial value of second low-pass filtering.
Continuing with the above example, a mean filtering process is performed on y2(t) to obtain a second low-pass filtered initial value y2' (t).
And S205, performing low-pass filtering processing by using the initial value of the second low-pass filtering to obtain second low-pass filtering data.
Continuing with the above example, the low-pass filtering processing is performed on the initial value of the second low-pass filtering for the first time, and the following formula may be adopted to perform calculation, so as to obtain second low-pass filtered data:
y3(t)＝y2'(t-1)+y2'(t-2)+…y2'(t-k1)；
wherein k1 is the number of sampling points for performing mean filtering processing on y2 (t); y3(t) is second low-pass filtered data.
The low-pass filtering processing is performed on the initial value of the second low-pass filtering at the second time and later, and the following formula can be adopted to calculate, so as to obtain second low-pass filtered data:
y3(t)＝dT*y3(t-1)/T+(1-dT/T)*y3(t-1)。
s206, the difference between the initial value of the second low-pass filtering and the second low-pass filtered data is used as second target filtered data.
Continuing with the above example, y4(t) is y2' (t) -y3 (t); where y4(t) is the second target data.
And S207, performing mean value filtering processing on the second target filtering data to obtain an initial value of third low-pass filtering.
And S208, carrying out low-pass filtering processing by using the initial value of the third low-pass filtering to obtain third low-pass filtering data.
S209, a difference between the initial value of the third low-pass filtering and the third low-pass filtered data is used as a first disturbance factor.
Specifically, the specific implementation of steps S207 to S209 may refer to steps S204 to S206, respectively, and will not be described herein again.
S103, determining a second disturbance factor according to the direct-axis current of the motor controller.
Optionally, in another embodiment of the present application, an implementation manner of step S103, as shown in fig. 3, includes:
s301, carrying out mean value filtering processing on the direct-axis current of the motor controller to obtain an initial value of a fourth low-pass filter.
And S302, performing low-pass filtering processing by using the initial value of the fourth low-pass filtering to obtain fourth low-pass filtering data.
S303, a difference between the initial value of the fourth low-pass filtering and the fourth low-pass filtered data is used as third target filtered data.
And S304, carrying out mean value filtering processing on the third target filtering data to obtain an initial value of fifth low-pass filtering.
And S305, performing low-pass filtering processing by using the initial value of the fifth low-pass filtering to obtain fifth low-pass filtering data.
S306, the difference between the initial value of the fifth low-pass filtering and the fifth low-pass filtered data is used as fourth target filtered data.
And S307, performing mean filtering processing on the fourth target filtering data to obtain an initial value of sixth low-pass filtering.
And S308, performing low-pass filtering processing by using the initial value of the sixth low-pass filtering to obtain sixth low-pass filtering data.
S309, a difference between the initial value of the sixth low-pass filtering and the sixth low-pass filtered data is used as a second disturbance factor.
Specifically, the specific implementation of steps S301 to S309 may refer to steps S201 to S209, respectively, but the rotation speed of the motor is replaced by the direct-axis current of the motor controller, and the modes of obtaining the target filtered data and the disturbance factor are the same through the mean filtering process and the low-pass filtering process, and are not described herein again.
And S104, determining a torque compensation value according to the first disturbance factor and the second disturbance factor.
Wherein the torque compensation value is used to suppress the torque output.
Optionally, in another embodiment of the present application, an implementation manner of step S104, as shown in fig. 4, includes:
s401, summing the product of the first disturbance factor and the proportional coefficient of the rotating speed disturbance quantity and the product of the second disturbance factor and the proportional coefficient of the current disturbance quantity to obtain the target torque.
It should be noted that the proportionality coefficient of the rotational speed disturbance amount and the proportionality coefficient of the current disturbance amount are set in advance, and can be set and changed according to the subsequent specific test result and the actual application condition, which is not limited herein.
S402, taking the product of the torque compensation value and the torque compensation direction as a torque compensation value.
Specifically, the torque compensation value is calculated for the first time by using the following formula:
ActDmp_trqComp_0＝(X*Kp+Y*Kp1)*ActDmp_stTrqCompDir_C；
kp is a proportional coefficient of the rotating speed disturbance quantity; kp1 is the proportional coefficient of the current disturbance quantity; ActDmp _ stTrqCompDir _ C is a torque compensation direction; ActDmp _ trqComp: is a torque compensation value; x is a first perturbation factor; and Y is a second perturbation factor.
The torque compensation value is calculated for the second time and later, and can be calculated by adopting the following formula:
ActDmp_trqComp＝ActDmp_trqComp_0(n)+(ActDmp_trqComp_0(n-1)+ActDmp_trqComp_0(n-2)＝ActDmp_trqComp_0(n-3))*Kf/3。
wherein Kf is a forgetting factor. By introducing the forgetting factor, the robustness and the real-time performance of the control system are improved.
As can be seen from the above, the present application provides a method for suppressing vehicle judder: firstly, acquiring the rotating speed of a motor and the direct-axis current of a motor controller; then, determining a first disturbance factor according to the rotating speed of the motor; determining a second disturbance factor according to the direct-axis current of the motor controller; finally, determining a torque compensation value according to the first disturbance factor and the second disturbance factor; wherein the torque compensation value is used to suppress the torque output. Therefore, the purposes of inhibiting the shaking and ensuring the comfort of the whole vehicle are achieved.
Another embodiment of the present application provides a vehicle shake suppression device, as shown in fig. 5, specifically including:
an obtaining unit 501 is configured to obtain a rotation speed of the motor and a direct-axis current of the motor controller.
A first determining unit 502, configured to determine a first disturbance factor according to a motor rotation speed.
Optionally, in another embodiment of the present application, an implementation manner of the first determining unit 502 includes:
the first mean value filtering processing unit is used for carrying out mean value filtering processing on the rotating speed of the motor to obtain an initial value of first low-pass filtering;
the first low-pass filtering processing unit is used for carrying out low-pass filtering processing by utilizing the initial value of the first low-pass filtering to obtain first low-pass filtering data;
a first calculation unit configured to take a difference between an initial value of the first low-pass filtering and the first low-pass filtered data as first target filtered data;
the first mean value filtering processing unit is further used for carrying out mean value filtering processing on the first target filtering data to obtain an initial value of second low-pass filtering;
the first low-pass filtering processing unit is further used for performing low-pass filtering processing by using the initial value of the second low-pass filtering to obtain second low-pass filtering data;
a first calculation unit further configured to take a difference between the initial value of the second low-pass filtering and the second low-pass filtered data as second target filtered data;
the first mean value filtering processing unit is further used for carrying out mean value filtering processing on the second target filtering data to obtain an initial value of third low-pass filtering;
the first low-pass filtering processing unit is further used for performing low-pass filtering processing by using the initial value of the third low-pass filtering to obtain third low-pass filtering data;
and the first calculation unit is also used for taking the difference between the initial value of the third low-pass filtering and the third low-pass filtering data as the first disturbance factor.
For a specific working process of the unit disclosed in the above embodiment of the present application, reference may be made to the content of the corresponding method embodiment, as shown in fig. 2, which is not described herein again.
A second determining unit 503, configured to determine a second perturbation factor according to the direct-axis current of the motor controller.
Optionally, in another embodiment of the present application, an implementation manner of the second determining unit 503 includes:
the second mean value filtering processing unit is used for carrying out mean value filtering processing on the direct-axis current of the motor controller to obtain an initial value of fourth low-pass filtering;
the second low-pass filtering processing unit is used for performing low-pass filtering processing by using the initial value of the fourth low-pass filtering to obtain fourth low-pass filtering data;
a second calculation unit configured to take a difference between the initial value of the fourth low-pass filtering and the fourth low-pass filtered data as third target filtered data;
the second mean value filtering processing unit is further used for carrying out mean value filtering processing on the third target filtering data to obtain an initial value of fifth low-pass filtering;
the second low-pass filtering processing unit is further used for performing low-pass filtering processing by using the initial value of the fifth low-pass filtering to obtain fifth low-pass filtering data;
a second calculation unit further configured to take a difference between the initial value of the fifth low-pass filtering and the fifth low-pass filtered data as fourth target filtered data;
the second mean value filtering processing unit is further used for carrying out mean value filtering processing on the fourth target filtering data to obtain an initial value of sixth low-pass filtering;
the second low-pass filtering processing unit is further used for performing low-pass filtering processing by using the initial value of the sixth low-pass filtering to obtain sixth low-pass filtering data;
and the second calculation unit is also used for taking the difference between the initial value of the sixth low-pass filtering and the sixth low-pass filtering data as a second disturbance factor.
For a specific working process of the unit disclosed in the above embodiment of the present application, reference may be made to the content of the corresponding method embodiment, as shown in fig. 3, which is not described herein again.
A third determining unit 504, configured to determine a torque compensation value according to the first disturbance factor and the second disturbance factor.
Wherein the torque compensation value is used to suppress the torque output.
For a specific working process of the unit disclosed in the above embodiment of the present application, reference may be made to the content of the corresponding method embodiment, as shown in fig. 1, which is not described herein again.
Optionally, in another embodiment of the present application, an implementation manner of the third determining unit 504 includes:
the third calculation unit is used for summing the product of the first disturbance factor and the proportional coefficient of the rotating speed disturbance quantity and the product of the second disturbance factor and the proportional coefficient of the current disturbance quantity to obtain a target torque;
and a third determining subunit, configured to use a product of the torque compensation value and the torque compensation direction as the torque compensation value.
For a specific working process of the unit disclosed in the above embodiment of the present application, reference may be made to the content of the corresponding method embodiment, as shown in fig. 4, which is not described herein again.
As can be seen from the above, the present application provides a vehicle shake suppression device: firstly, an obtaining unit 501 obtains a motor rotation speed and a direct-axis current of a motor controller; then, the first determining unit 502 determines a first disturbance factor according to the motor rotation speed; the second determining unit 503 determines a second disturbance factor according to the direct-axis current of the motor controller; finally, the third determining unit 504 determines a torque compensation value according to the first disturbance factor and the second disturbance factor; wherein the torque compensation value is used to suppress the torque output. Therefore, the purposes of inhibiting the shaking and ensuring the comfort of the whole vehicle are achieved.
Another embodiment of the present application provides an electronic device, as shown in fig. 6, including:
one or more processors 601.
A storage device 602 having one or more programs stored thereon.
The one or more programs, when executed by the one or more processors 601, cause the one or more processors 601 to implement the method of suppressing vehicle judder as described in any of the embodiments above.
Another embodiment of the present application provides a computer storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method for suppressing vehicle shake as described in any one of the above embodiments.
In the above embodiments disclosed in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus and method embodiments described above are illustrative only, as the flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present disclosure may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part. The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present disclosure may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a live broadcast device, or a network device) to execute all or part of the steps of the method according to the embodiments of the present disclosure. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
Those skilled in the art can make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method of suppressing vehicle judder, characterized by comprising:
acquiring the rotating speed of a motor and the direct-axis current of a motor controller;
determining a first disturbance factor according to the motor rotating speed;
determining a second disturbance factor according to the direct-axis current of the motor controller;
determining a torque compensation value according to the first disturbance factor and the second disturbance factor; wherein the torque compensation value is used to suppress torque output.
2. The method of suppressing according to claim 1, wherein said determining a first perturbation factor based on the motor speed comprises:
carrying out mean value filtering processing on the rotating speed of the motor to obtain an initial value of first low-pass filtering;
carrying out low-pass filtering processing by using the initial value of the first low-pass filtering to obtain first low-pass filtering data;
taking a difference between the initial value of the first low-pass filtering and the first low-pass filtered data as first target filtered data;
carrying out mean value filtering processing on the first target filtering data to obtain an initial value of second low-pass filtering;
performing low-pass filtering processing by using the initial value of the second low-pass filtering to obtain second low-pass filtering data;
taking a difference between the initial value of the second low-pass filtering and the second low-pass filtered data as second target filtered data;
carrying out mean value filtering processing on the second target filtering data to obtain an initial value of third low-pass filtering;
performing low-pass filtering processing by using the initial value of the third low-pass filtering to obtain third low-pass filtering data;
and taking the difference between the initial value of the third low-pass filtering and the third low-pass filtering data as a first disturbance factor.
3. The method of suppressing according to claim 1, wherein said determining a second perturbation factor based on a direct axis current of the motor controller comprises:
carrying out mean value filtering processing on the direct-axis current of the motor controller to obtain an initial value of fourth low-pass filtering;
performing low-pass filtering processing by using the initial value of the fourth low-pass filtering to obtain fourth low-pass filtering data;
taking a difference between the initial value of the fourth low-pass filtering and the fourth low-pass filtered data as third target filtered data;
carrying out mean value filtering processing on the third target filtering data to obtain an initial value of fifth low-pass filtering;
performing low-pass filtering processing by using the initial value of the fifth low-pass filtering to obtain fifth low-pass filtering data;
taking a difference between the initial value of the fifth low-pass filtering and the fifth low-pass filtered data as fourth target filtered data;
carrying out mean value filtering processing on the fourth target filtering data to obtain an initial value of sixth low-pass filtering;
performing low-pass filtering processing by using the initial value of the sixth low-pass filtering to obtain sixth low-pass filtering data;
and taking the difference between the initial value of the sixth low-pass filtering and the sixth low-pass filtering data as a second disturbance factor.
4. The method of suppressing according to claim 1, wherein said determining a torque compensation value based on the first perturbation factor and the second perturbation factor comprises:
summing the product of the first disturbance factor and the proportional coefficient of the rotating speed disturbance quantity and the product of the second disturbance factor and the proportional coefficient of the current disturbance quantity to obtain a target torque;
and taking the product of the torque compensation value and the torque compensation direction as a torque compensation value.
5. A vehicle shake suppression device, characterized by comprising:
the acquisition unit is used for acquiring the rotating speed of the motor and the direct-axis current of the motor controller;
the first determining unit is used for determining a first disturbance factor according to the rotating speed of the motor;
the second determining unit is used for determining a second disturbance factor according to the direct-axis current of the motor controller;
a third determining unit, configured to determine a torque compensation value according to the first disturbance factor and the second disturbance factor; wherein the torque compensation value is used to suppress torque output.
6. The suppression device according to claim 5, wherein the first determination unit includes:
the first mean value filtering processing unit is used for carrying out mean value filtering processing on the rotating speed of the motor to obtain an initial value of first low-pass filtering;
the first low-pass filtering processing unit is used for carrying out low-pass filtering processing by using the initial value of the first low-pass filtering to obtain first low-pass filtering data;
a first calculation unit configured to take a difference between an initial value of the first low-pass filtering and the first low-pass filtered data as first target filtered data;
the first mean value filtering processing unit is further configured to perform mean value filtering processing on the first target filtering data to obtain an initial value of second low-pass filtering;
the first low-pass filtering processing unit is further configured to perform low-pass filtering processing on the initial value of the second low-pass filtering to obtain second low-pass filtering data;
the first calculation unit is further configured to use a difference between the initial value of the second low-pass filtering and the second low-pass filtered data as second target filtered data;
the first mean value filtering processing unit is further configured to perform mean value filtering processing on the second target filtering data to obtain an initial value of a third low-pass filtering;
the first low-pass filtering processing unit is further configured to perform low-pass filtering processing on the initial value of the third low-pass filtering to obtain third low-pass filtering data;
the first calculation unit is further configured to use a difference between the initial value of the third low-pass filtering and the third low-pass filtered data as a first perturbation factor.
7. The suppression device according to claim 5, wherein the second determination unit includes:
the second mean value filtering processing unit is used for carrying out mean value filtering processing on the direct-axis current of the motor controller to obtain an initial value of fourth low-pass filtering;
the second low-pass filtering processing unit is used for performing low-pass filtering processing by using the initial value of the fourth low-pass filtering to obtain fourth low-pass filtering data;
a second calculation unit configured to take a difference between the initial value of the fourth low-pass filtering and the fourth low-pass filtered data as third target filtered data;
the second mean value filtering processing unit is further configured to perform mean value filtering processing on the third target filtering data to obtain an initial value of a fifth low-pass filtering;
the second low-pass filtering processing unit is further configured to perform low-pass filtering processing on the fifth low-pass filtered initial value to obtain fifth low-pass filtered data;
the second calculation unit is further configured to use a difference between the initial value of the fifth low-pass filtering and the fifth low-pass filtered data as fourth target filtered data;
the second mean value filtering processing unit is further configured to perform mean value filtering processing on the fourth target filtering data to obtain an initial value of sixth low-pass filtering;
the second low-pass filtering processing unit is further configured to perform low-pass filtering processing on the sixth low-pass filtered initial value to obtain sixth low-pass filtered data;
the second calculation unit is further configured to use a difference between the initial value of the sixth low-pass filtering and the sixth low-pass filtered data as a second perturbation factor.
8. The suppressing apparatus according to claim 5, wherein the third determining unit includes:
the third calculation unit is used for summing the product of the first disturbance factor and the proportional coefficient of the rotating speed disturbance quantity and the product of the second disturbance factor and the proportional coefficient of the current disturbance quantity to obtain a target torque;
and the third determining subunit is used for taking the product of the torque compensation value and the torque compensation direction as the torque compensation value.
9. An electronic device, comprising:
one or more processors;
a storage device having one or more programs stored thereon;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of suppressing vehicle shaking of any of claims 1 to 4.
10. A computer storage medium, characterized in that a computer program is stored thereon, wherein the computer program, when executed by a processor, implements the method of suppressing vehicle shake according to any one of claims 1 to 4.
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