CN113459830B - Vehicle shake suppression method and device, electronic equipment and computer storage medium - Google Patents
Vehicle shake suppression method and device, electronic equipment and computer storage medium Download PDFInfo
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- CN113459830B CN113459830B CN202110873662.XA CN202110873662A CN113459830B CN 113459830 B CN113459830 B CN 113459830B CN 202110873662 A CN202110873662 A CN 202110873662A CN 113459830 B CN113459830 B CN 113459830B
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- 238000004364 calculation method Methods 0.000 claims description 19
- 238000004590 computer program Methods 0.000 claims description 7
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Classifications
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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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The application provides a vehicle shake suppression method, a device, electronic equipment and a computer storage medium, wherein the vehicle shake suppression method comprises the following steps: firstly, obtaining the rotating speed of a motor and the direct-axis current of a motor controller; then, determining a first disturbance factor according to the motor rotation speed; 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 suppressing the shake 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 apparatus for suppressing vehicle shake, an electronic device, and a computer storage medium.
Background
The power system of the pure electric bus is a comprehensive system with a plurality of mutually coupled fields, and relates to knowledge in the 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-scale excitation of the driving torque and disturbance, and meanwhile, the buffeting amplitude is also aggravated by the low-speed torque ripple of the motor, so that the driving comfort of the whole vehicle is seriously affected.
Disclosure of Invention
In view of the above, the present application provides a method, an apparatus, an electronic device, and a computer storage medium for suppressing vehicle shake, which can suppress shake and ensure comfort of the whole vehicle.
The first aspect of the present application provides a vehicle shake suppression method, 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 rotation 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:
performing average value filtering treatment on the motor rotating speed to obtain an initial value of a first low-pass filter;
obtaining first low-pass filtering data after low-pass filtering processing is carried out by using the initial value of the first low-pass filtering;
taking the difference between the initial value of the first low-pass filtering and the first low-pass filtering data as first target filtering data;
performing mean value filtering processing on the first target filtering data to obtain an initial value of a second low-pass filter;
obtaining second low-pass filtering data after low-pass filtering processing is carried out by using the initial value of the second low-pass filtering;
taking the difference between the initial value of the second low-pass filtering and the second low-pass filtering data as second target filtering data;
performing mean value filtering processing on the second target filtering data to obtain an initial value of third low-pass filtering;
obtaining third low-pass filtering data after low-pass filtering processing is carried out by using the initial value of the third low-pass filtering;
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:
performing average value filtering treatment on the direct-axis current of the motor controller to obtain a fourth low-pass filtering initial value;
obtaining fourth low-pass filtering data after low-pass filtering processing is carried out by using the initial value of the fourth low-pass filtering;
taking the difference between the initial value of the fourth low-pass filtering and the fourth low-pass filtering data as third target filtering data;
performing mean value filtering processing on the third target filtering data to obtain a fifth low-pass filtering initial value;
obtaining fifth low-pass filtering data after low-pass filtering processing is carried out by utilizing the initial value of the fifth low-pass filtering;
taking the difference between the initial value of the fifth low-pass filtering and the fifth low-pass filtering data as fourth target filtering data;
performing mean value filtering processing on the fourth target filtering data to obtain a sixth low-pass filtering initial value;
obtaining sixth low-pass filtering data after low-pass filtering processing is carried out by using the initial value of the sixth low-pass filtering;
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 motor rotating speed;
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 average filtering processing unit is used for carrying out average filtering processing on the motor rotating speed to obtain a first low-pass filtering initial value;
the first low-pass filtering processing unit is used for obtaining first low-pass filtering data after low-pass filtering processing is carried out by utilizing the initial value of the first low-pass filtering;
a first calculation unit configured to use a difference between an initial value of the first low-pass filtering and the first low-pass filtering data as first target filtering data;
the first average filtering processing unit is further configured to perform average filtering processing on the first target filtering data to obtain an initial value of a second low-pass filtering;
the first low-pass filtering processing unit is further configured to obtain second low-pass filtered data after performing low-pass filtering processing by using the initial value of the second low-pass filter;
the first calculating unit is further configured to use a difference between the initial value of the second low-pass filtering and the second low-pass filtering data as second target filtering data;
the first average filtering processing unit is further configured to perform average filtering processing on the second target filtered data to obtain an initial value of third low-pass filtering;
the first low-pass filtering processing unit is further configured to obtain third low-pass filtered data after performing low-pass filtering processing by using the initial value of the third low-pass filtering;
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 filtering data as a first disturbance factor.
Optionally, the second determining unit includes:
the second average filtering processing unit is used for carrying out average filtering processing on the direct-axis current of the motor controller to obtain a fourth low-pass filtering initial value;
the second low-pass filtering processing unit is used for obtaining fourth low-pass filtering data after low-pass filtering processing is performed by using the initial value of the fourth low-pass filtering;
a second calculation unit configured to use a difference between the initial value of the fourth low-pass filter and the fourth low-pass filter data as third target filter data;
the second average filtering processing unit is further configured to perform average 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 configured to obtain fifth low-pass filtered data after performing low-pass filtering processing by using the initial value of the fifth low-pass filter;
the second calculating unit is further configured to use a difference between the initial value of the fifth low-pass filtering and the fifth low-pass filtering data as fourth target filtering data;
the second average filtering processing unit is further configured to perform average filtering processing on the fourth target filtered data to obtain a sixth low-pass filtered initial value;
the second low-pass filtering processing unit is further configured to obtain sixth low-pass filtered data after performing low-pass filtering processing by using the initial value of the sixth low-pass filter;
the second calculation unit is further configured to use a difference between the initial value of the sixth low-pass filter and the sixth low-pass filtered data as a second disturbance 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 a third determination subunit, configured to use a product of the torque compensation value and the torque compensation direction as a 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 of suppressing vehicle shake as claimed in any one of the first aspects.
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 solution, the method, the device, the electronic device and the computer storage medium for suppressing vehicle shake provided by the present application include: firstly, obtaining the rotating speed of a motor and the direct-axis current of a motor controller; then, determining a first disturbance factor according to the motor rotation speed; 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 suppressing the shake and ensuring the comfort of the whole vehicle are achieved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present application, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a specific flowchart of a vehicle shake suppression method according to an embodiment of the present application;
FIG. 2 is a flowchart of a method for determining a first perturbation factor according to another embodiment of the present application;
FIG. 3 is a flowchart of a method for determining a second perturbation factor according to another embodiment of the present application;
FIG. 4 is a flowchart 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 shake suppression apparatus according to another embodiment of the present application;
fig. 6 is a schematic diagram of an electronic device for implementing a vehicle shake suppression method according to another embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that the terms "first," "second," and the like herein are merely used to distinguish between different devices, modules, or units and are not intended to limit the order or interdependence of functions performed by such devices, modules, or units, but the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but also other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The embodiment of the application provides a vehicle shake suppression method, as shown in fig. 1, specifically comprising the following steps:
s101, acquiring the motor rotating speed and the direct-axis current of a motor controller.
Specifically, in the actual application process of the application, the motor rotation speed can be obtained in real time through a rotation speed sensor or can be obtained through a driving computer; the direct axis current of the motor controller can be obtained through a current sensor in real time, and also can be obtained through a driving computer, so that the mode is quite diversified, and the method is not limited.
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:
and S201, carrying out average value filtering processing on the motor rotating speed to obtain an initial value of the first low-pass filtering.
S202, performing low-pass filtering processing by using an initial value of the first low-pass filtering to obtain first low-pass filtered 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 to obtain first low-pass filtering 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 sampling point number for carrying out average filtering processing on the motor rotation speed; u (t) is the initial value of the first low-pass filtering.
And performing low-pass filtering processing on the initial value of the first low-pass filtering after the second time, wherein the initial value can be calculated by adopting the following formula to obtain first low-pass filtering data:
y(t)＝dT*u(t)/T+(1-dT/T)*y(t-1)；
dT is the scheduling time step; t is the filtering time.
S203, taking the difference between the initial value of the first low-pass filtering and the first low-pass filtering data as first target filtering data.
The above example is followed, i.e., y2 (t) =u (t) -y (t); wherein y2 (t) is the first target filtered data.
S204, carrying out mean value filtering processing on the first target filtering data to obtain an initial value of the second low-pass filtering.
Continuing with the above example, the average value filtering process is performed on y2 (t) to obtain an initial value y2' (t) of the second low-pass filtering.
S205, performing low-pass filtering processing by using the initial value of the second low-pass filtering to obtain second low-pass filtered data.
Continuing with the above example, the first time the initial value of the second low-pass filter is subjected to the low-pass filtering process, the following formula may be used to calculate, so as to obtain second low-pass filtered data:
y3(t)＝y2'(t-1)+y2'(t-2)+…y2'(t-k1)；
wherein k1 is the sampling point number for carrying out mean value filtering treatment on y2 (t); y3 (t) is the second low pass filtered data.
And performing low-pass filtering processing on the initial value of the second low-pass filtering after the second time, wherein the initial value of the second low-pass filtering processing can be calculated by adopting the following formula to obtain second low-pass filtering data:
y3(t)＝dT*y3(t-1)/T+(1-dT/T)*y3(t-1)。
s206, taking the difference between the initial value of the second low-pass filtering and the second low-pass filtering data as second target filtering data.
The above example is followed, i.e., y4 (t) =y2' (t) -y3 (t); wherein y4 (t) is the second target data.
S207, performing mean value filtering processing on the second target filtering data to obtain an initial value of the third low-pass filtering.
And S208, performing low-pass filtering processing by using the initial value of the third low-pass filtering to obtain third low-pass filtered data.
S209, 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.
Specifically, the specific embodiments of step S207 to step S209 may refer to the above steps S204 to S206, respectively, which are not 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:
and S301, carrying out average value filtering processing on the direct-axis current of the motor controller to obtain a fourth low-pass filtering initial value.
S302, performing low-pass filtering processing by using an initial value of the fourth low-pass filtering to obtain fourth low-pass filtered data.
And S303, taking the difference between the initial value of the fourth low-pass filtering and the fourth low-pass filtering data as third target filtering data.
S304, carrying out mean value filtering processing on the third target filtering data to obtain an initial value of the 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 filtered data.
And S306, taking the difference between the initial value of the fifth low-pass filtering and the fifth low-pass filtering data as fourth target filtering data.
S307, performing mean value filtering processing on the fourth target filtering data to obtain an initial value of the 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 filtered data.
And S309, 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.
Specifically, in the specific implementation manners of steps S301 to S309, reference may be made to the foregoing steps S201 to S209, respectively, and only the motor rotation speed is replaced by the direct current of the motor controller, and the mean value filtering processing and the low pass filtering processing are the same, so that the manners of obtaining the target filtering data and the disturbance factor are the same, and are not repeated herein.
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 torque output.
Alternatively, 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.
The ratio coefficient of the rotational speed disturbance variable and the ratio coefficient of the current disturbance variable are set in advance, and can be set and changed according to the subsequent specific test result and the actual application condition, and the method is not limited herein.
S402, taking the product of the torque compensation value and the torque compensation direction as the torque compensation value.
Specifically, in the first calculation of the torque compensation value, the following formula may be adopted to calculate the torque compensation value:
ActDmp_trqComp_0＝(X*Kp+Y*Kp1)*ActDmp_stTrqCompDir_C；
wherein Kp is a proportionality coefficient of the rotation speed disturbance quantity; kp1 is a proportionality coefficient of the current disturbance quantity; actDmp_stTrqCompDir_C is the torque compensation direction; actDmp_trqComp: is a torque compensation value; x is a first disturbance factor; y is a second perturbation factor.
The torque compensation value is calculated in the second time and later, and the torque compensation value can be obtained 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. The forgetting factor is introduced to improve the robustness and the instantaneity of the control system.
As can be seen from the above scheme, the method for suppressing vehicle shake provided by the application comprises the following steps: firstly, obtaining 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 suppressing the shake 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 acquisition unit 501 for acquiring the motor rotation speed and the direct axis current of the motor controller.
A first determining unit 502 is configured to determine a first disturbance factor according to a rotational speed of the motor.
Optionally, in another embodiment of the present application, an implementation manner of the first determining unit 502 includes:
the first average filtering processing unit is used for carrying out average filtering processing on the motor rotating speed to obtain an initial value of first low-pass filtering;
the first low-pass filtering processing unit is used for obtaining first low-pass filtering data after low-pass filtering processing is carried out by utilizing an initial value of the first low-pass filtering;
a first calculation unit configured to take a difference between an initial value of the first low-pass filtering and the first low-pass filtering data as first target filtering data;
the first average filtering processing unit is further used for carrying out average filtering processing on the first target filtering data to obtain an initial value of the second low-pass filtering;
the first low-pass filtering processing unit is further used for obtaining second low-pass filtering data after low-pass filtering processing is performed by using the initial value of the second low-pass filtering;
the first calculation unit is further used for taking the difference between the initial value of the second low-pass filtering and the second low-pass filtering data as second target filtering data;
the first average filtering processing unit is further used for carrying out average filtering processing on the second target filtering data to obtain an initial value of the third low-pass filtering;
the first low-pass filtering processing unit is further used for obtaining third low-pass filtering data after low-pass filtering processing is performed by using the initial value of the third low-pass filtering;
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 filtering data as the first disturbance factor.
The specific working process of the unit disclosed in the above embodiment of the present application may refer to the content of the corresponding method embodiment, as shown in fig. 2, and will not be described herein.
A second determining unit 503 for determining a second disturbance factor according to the direct current of the motor controller.
Alternatively, in another embodiment of the present application, an implementation manner of the second determining unit 503 includes:
the second average filtering processing unit is used for carrying out average filtering processing on the direct-axis current of the motor controller to obtain a fourth low-pass filtering initial value;
the second low-pass filtering processing unit is used for obtaining fourth low-pass filtering data after low-pass filtering processing is performed by using the initial value of the fourth low-pass filtering;
a second calculation unit configured to set a difference between an initial value of the fourth low-pass filter and the fourth low-pass filter data as third target filter data;
the second average filtering processing unit is further used for carrying out average 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 obtaining fifth low-pass filtering data after low-pass filtering processing is performed by using the initial value of the fifth low-pass filtering;
a second calculation unit further configured to use a difference between the initial value of the fifth low-pass filtering and the fifth low-pass filtering data as fourth target filtering data;
the second average filtering processing unit is further used for performing average 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 obtaining sixth low-pass filtering data after low-pass filtering processing is performed by using the initial value of the sixth low-pass filtering;
the second calculation unit is further configured to use a difference between the initial value of the sixth low-pass filter and the sixth low-pass filtered data as a second disturbance factor.
The specific working process of the unit disclosed in the above embodiment of the present application may refer to the content of the corresponding method embodiment, as shown in fig. 3, and will not be described herein.
A third determining unit 504 is 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.
The specific working process of the unit disclosed in the above embodiment of the present application may refer to the content of the corresponding method embodiment, as shown in fig. 1, and will not be described herein.
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 determination subunit configured to take a product of the torque compensation value and the torque compensation direction as the torque compensation value.
The specific working process of the unit disclosed in the above embodiment of the present application can be referred to the content of the corresponding method embodiment, as shown in fig. 4, and will not be described herein.
As can be seen from the above scheme, the vehicle shake suppression device provided by the application is as follows: first, the acquisition unit 501 acquires the motor rotation speed and the direct-axis current of the 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 torque output. Therefore, the purposes of suppressing the shake 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 on which one or more programs are stored.
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 shake as in any of the embodiments described 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 of the present disclosure, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus and method embodiments described above are merely illustrative, for example, flow diagrams 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 various embodiments of the present disclosure may be integrated together to form a single portion, or each module may exist alone, or two or more modules may be integrated to form a single portion. 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 essence or a part contributing to the prior art or a part of the technical solution, or in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a live device, or a network device, etc.) to perform all or part of the steps of the method described in the embodiments of the present disclosure. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, randomAccess Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Those skilled in the art will be able to make or use the 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 (8)
1. A vehicle shake suppression method, 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 rotation speed;
determining a second disturbance factor according to the direct axis current of the motor controller;
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;
taking the product of the target torque and the torque compensation direction as a torque compensation value; wherein the torque compensation value is used to suppress torque output.
2. The suppression method according to claim 1, wherein the determining a first disturbance factor from the motor rotation speed includes:
performing average value filtering treatment on the motor rotating speed to obtain an initial value of a first low-pass filter;
obtaining first low-pass filtering data after low-pass filtering processing is carried out by using the initial value of the first low-pass filtering;
taking the difference between the initial value of the first low-pass filtering and the first low-pass filtering data as first target filtering data;
performing mean value filtering processing on the first target filtering data to obtain an initial value of a second low-pass filter;
obtaining second low-pass filtering data after low-pass filtering processing is carried out by using the initial value of the second low-pass filtering;
taking the difference between the initial value of the second low-pass filtering and the second low-pass filtering data as second target filtering data;
performing mean value filtering processing on the second target filtering data to obtain an initial value of third low-pass filtering;
obtaining third low-pass filtering data after low-pass filtering processing is carried out by using the initial value of the third low-pass filtering;
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 suppression method according to claim 1, wherein the determining a second disturbance factor from the direct axis current of the motor controller includes:
performing average value filtering treatment on the direct-axis current of the motor controller to obtain a fourth low-pass filtering initial value;
obtaining fourth low-pass filtering data after low-pass filtering processing is carried out by using the initial value of the fourth low-pass filtering;
taking the difference between the initial value of the fourth low-pass filtering and the fourth low-pass filtering data as third target filtering data;
performing mean value filtering processing on the third target filtering data to obtain a fifth low-pass filtering initial value;
obtaining fifth low-pass filtering data after low-pass filtering processing is carried out by utilizing the initial value of the fifth low-pass filtering;
taking the difference between the initial value of the fifth low-pass filtering and the fifth low-pass filtering data as fourth target filtering data;
performing mean value filtering processing on the fourth target filtering data to obtain a sixth low-pass filtering initial value;
obtaining sixth low-pass filtering data after low-pass filtering processing is carried out by using the initial value of the sixth low-pass filtering;
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. A vehicle shake suppression apparatus, 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 motor rotating speed;
the second determining unit is used for determining a second disturbance factor according to the direct-axis current of the motor controller;
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;
a third determining unit configured to take a product of the target torque and a torque compensation direction as a torque compensation value; wherein the torque compensation value is used to suppress torque output.
5. The apparatus according to claim 4, wherein the first determination unit includes:
the first average filtering processing unit is used for carrying out average filtering processing on the motor rotating speed to obtain a first low-pass filtering initial value;
the first low-pass filtering processing unit is used for obtaining first low-pass filtering data after low-pass filtering processing is carried out by utilizing the initial value of the first low-pass filtering;
a first calculation unit configured to use a difference between an initial value of the first low-pass filtering and the first low-pass filtering data as first target filtering data;
the first average filtering processing unit is further configured to perform average filtering processing on the first target filtering data to obtain an initial value of a second low-pass filtering;
the first low-pass filtering processing unit is further configured to obtain second low-pass filtered data after performing low-pass filtering processing by using the initial value of the second low-pass filter;
the first calculating unit is further configured to use a difference between the initial value of the second low-pass filtering and the second low-pass filtering data as second target filtering data;
the first average filtering processing unit is further configured to perform average filtering processing on the second target filtered data to obtain an initial value of third low-pass filtering;
the first low-pass filtering processing unit is further configured to obtain third low-pass filtered data after performing low-pass filtering processing by using the initial value of the third low-pass filtering;
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 filtering data as a first disturbance factor.
6. The apparatus according to claim 4, wherein the second determination unit includes:
the second average filtering processing unit is used for carrying out average filtering processing on the direct-axis current of the motor controller to obtain a fourth low-pass filtering initial value;
the second low-pass filtering processing unit is used for obtaining fourth low-pass filtering data after low-pass filtering processing is performed by using the initial value of the fourth low-pass filtering;
a second calculation unit configured to use a difference between the initial value of the fourth low-pass filter and the fourth low-pass filter data as third target filter data;
the second average filtering processing unit is further configured to perform average 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 configured to obtain fifth low-pass filtered data after performing low-pass filtering processing by using the initial value of the fifth low-pass filter;
the second calculating unit is further configured to use a difference between the initial value of the fifth low-pass filtering and the fifth low-pass filtering data as fourth target filtering data;
the second average filtering processing unit is further configured to perform average filtering processing on the fourth target filtered data to obtain a sixth low-pass filtered initial value;
the second low-pass filtering processing unit is further configured to obtain sixth low-pass filtered data after performing low-pass filtering processing by using the initial value of the sixth low-pass filter;
the second calculation unit is further configured to use a difference between the initial value of the sixth low-pass filter and the sixth low-pass filtered data as a second disturbance factor.
7. 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 shake as claimed in any one of claims 1 to 3.
8. A computer storage medium, characterized in that a computer program is stored thereon, wherein the computer program, when executed by a processor, implements the vehicle shake suppression method according to any one of claims 1 to 3.
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| CN202110873662.XA CN113459830B (en) | 2021-07-30 | 2021-07-30 | Vehicle shake suppression method and device, electronic equipment and computer storage medium |
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