CN114987222B - Jitter control method and device, electronic equipment and storage medium - Google Patents
Jitter control method and device, electronic equipment and storage medium Download PDFInfo
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- CN114987222B CN114987222B CN202210712953.5A CN202210712953A CN114987222B CN 114987222 B CN114987222 B CN 114987222B CN 202210712953 A CN202210712953 A CN 202210712953A CN 114987222 B CN114987222 B CN 114987222B
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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
- B60L2240/421—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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- 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
- B60L2240/46—Drive Train control parameters related to wheels
- B60L2240/461—Speed
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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 invention discloses a shake control method, a device, electronic equipment and a storage medium, wherein a braking state of an electric vehicle is determined by receiving a braking signal triggered by a braking pedal, a first real-time rotating speed of a motor and a wheel speed of a wheel are obtained in an emergency braking state, a first reference rotating speed of the motor is calculated according to the wheel speed, an update torque of the motor is calculated through the difference between the first reference rotating speed and the first real-time rotating speed, and then the motor is driven according to the update torque, so that the vehicle is separated from the shake state. The shaking state of the vehicle is determined by detecting the difference between the real-time rotating speed of the motor and the reference rotating speed in the vehicle, the situation that the shaking of the electric vehicle is caused by torque fluctuation generated by exciting the driving shaft by the braking force of the wheel end under the braking working condition of the vehicle can not be detected when the shaking state of the vehicle is detected by utilizing the rotating speed of the motor is avoided, the shaking of the electric vehicle is timely processed, the duration time of the shaking state of the electric vehicle is shortened, and riding comfort is ensured.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a shake control method, a shake control device, an electronic device, and a storage medium.
Background
The pure electric automobile uses a vehicle-mounted power supply as power, and drives wheels to run through a motor, so that the pure electric automobile is widely accepted and popularized in the market due to the characteristics of environmental protection and energy conservation. However, the existing power transmission system of the pure electric vehicle is mostly characterized in that a driving motor directly drives wheels after passing through a single-stage speed reducer, devices such as a gear shifting mechanism, a clutch and a hydraulic torque converter are not arranged in the middle, so that the power response of the pure electric vehicle is quicker, meanwhile, the rotational inertia of the power transmission system is reduced due to the fact that the clutch and other structures are not arranged in the braking process, and when the vehicle is in a braking working condition, particularly when an ABS works, a wheel end is excited by braking force, a driving half shaft of the vehicle can generate larger torque fluctuation, and accordingly shaking of the transmission system is caused and the whole vehicle is accompanied.
The current method for inhibiting the vibration of the pure electric vehicle mainly comprises the steps of detecting the rotation speed of a motor to determine the vibration of the vehicle body, and applying damping torque to the motor in the opposite direction to the current rotation speed or the motor angular acceleration vibration direction to inhibit the vibration. However, as mentioned above, when the wheel end braking force of the pure electric vehicle suddenly changes under the braking condition, torque fluctuation generated by the driving half shaft also causes vehicle vibration, and the change of the wheel end braking force is difficult to detect through the rotation speed of the motor, when the method of determining the vibration and suppressing the vibration through detecting the rotation speed of the motor is applied, the vibration generated by the vehicle under the influence of the sudden change of the wheel end braking force cannot be detected, and the vibration is suppressed, which not only damages the comfort of riding, but also accelerates the loss of mechanical parts of the vehicle, and increases the use cost of the vehicle.
Disclosure of Invention
The invention provides a shake control method, electronic equipment and a storage medium, which are used for solving the problem that the shake generated by abrupt change of braking force of a wheel end of an electric vehicle under a braking working condition cannot be detected by a method for controlling shake by detecting abrupt change of the rotating speed of a motor.
According to an aspect of the present invention, there is provided a jitter control method including:
when a brake signal triggered by the brake pedal is received, determining a brake state of the electric vehicle according to the brake signal, wherein the brake state comprises slow brake, medium brake and emergency brake;
if the braking state is emergency braking, acquiring a first real-time rotating speed of the motor and the wheel speed of the wheel;
Calculating a first reference rotational speed of the motor based on the wheel speed;
calculating an updated torque of the motor based on a difference between the first real-time rotational speed and the first reference rotational speed;
and driving the motor to execute the update torque.
According to another aspect of the present invention, there is provided a jitter control apparatus including:
The state determining module is used for determining the braking state of the electric vehicle according to the braking signal when the braking signal triggered by the braking pedal is received, wherein the braking state comprises slow braking, medium braking and emergency braking;
the rotating speed/wheel speed obtaining module is used for obtaining the first real-time rotating speed of the motor and the wheel speed of the wheel if the braking state is emergency braking;
A first reference rotational speed calculation module for calculating a first reference rotational speed of the motor based on the wheel speed;
an update torque calculation module for calculating an update torque of the motor based on a difference between the first real-time rotational speed and the first reference rotational speed;
And the updating torque executing module is used for driving the motor to execute the updating torque.
According to another aspect of the present invention, there is provided an electronic apparatus including:
At least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the jitter control method of any one of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to implement the jitter control method according to any one of the embodiments of the present invention when executed.
According to the technical scheme, the braking state of the electric vehicle is determined by receiving a braking signal triggered by a brake pedal, when the electric vehicle is in emergency braking, the first real-time rotating speed of the motor and the wheel speed of the wheel are obtained, the first reference rotating speed of the motor is calculated according to the wheel speed, the update torque of the motor is calculated according to the difference between the first reference rotating speed and the first real-time rotating speed, and then the motor is driven according to the update torque, so that the vehicle is separated from a shaking state. Compared with the method for detecting vehicle shake through motor rotation speed abrupt change, the method for detecting vehicle shake state of the motor of the invention determines the shake state of the vehicle by detecting the difference between the real-time rotation speed of the motor and the reference rotation speed, avoids the condition that the motor cannot detect shake of the electric vehicle caused by torque fluctuation generated by a driving shaft under a braking working condition when the motor rotation speed is used for detecting the shake state of the vehicle, and enables the electric vehicle to be separated from the shake state in time by driving the motor to execute updating torque, thereby reducing the duration time of the shake state of the electric vehicle, guaranteeing riding comfort and reducing the loss of mechanical parts of the vehicle caused by shake.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a jitter control method according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of a jitter control apparatus according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of an electronic device implementing a jitter control method according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1 is a flowchart of a shake control method according to an embodiment of the present invention, where the method may be implemented by a shake control device, and the shake control device may be implemented in hardware and/or software, and the shake control device may be configured in an electronic device. As shown in fig. 1, the method includes:
S110, when a brake signal triggered by a brake pedal is received, determining the braking state of the electric vehicle according to the brake signal, wherein the braking state comprises slow braking, medium braking and emergency braking.
The shake control method provided by the embodiment can be applied to electric vehicles, including pure electric vehicles. The pure electric automobile uses a vehicle-mounted power supply as power and drives wheels to run through a motor, wherein the vehicle-mounted power supply of the pure electric automobile is a rechargeable battery, such as a lead-acid battery, a nickel-cadmium battery, a nickel-hydrogen battery or a lithium ion battery, and the like, and the running speed of the pure electric automobile can be reduced through a brake pedal in the running process of the pure electric automobile, so that the operations of decelerating, stopping and the like are realized.
In this embodiment, the brake pedal may be triggered to generate a brake signal when being stepped on, and the brake signal may be classified into various types according to the magnitude of the pedal stroke when the brake pedal is stepped on, for example, when the brake pedal stroke is relatively large and the time of the change of the brake pedal stroke from 0 to the maximum stroke of the step is relatively short, the brake signal may indicate that the electric vehicle is in a braking state of emergency braking, when the brake pedal stroke is relatively small or the time of the change of the brake pedal stroke from 0 to the maximum brake pedal stroke of the step is relatively long, the brake signal may indicate that the electric vehicle is in a braking state of slow braking, and when the brake pedal stroke is medium or the time of the change of the brake pedal stroke from 0 to the maximum brake pedal stroke of the step is not particularly long or short, the brake signal may indicate that the electric vehicle is in a braking state of medium braking.
In addition, in the embodiment, as the driving mode that the motor directly drives the wheels after passing through the single-machine speed reducer is mostly shown between the motor and the wheels of the pure electric vehicle, a gear shifting mechanism or a clutch, a hydraulic torque converter and other intermediate mechanisms are not arranged between the motor and the wheels, the pure electric vehicle has an underdamping characteristic and is easy to shake. In this embodiment, when the brake signal indicates emergency braking, a sudden change of braking force will occur at the wheels of the pure electric vehicle, so that larger torque fluctuation of the driving half shaft of the pure electric vehicle is caused, and shake of the body of the pure electric vehicle is finally caused.
Specifically, in this embodiment, a brake pedal travel sensor may be installed at the brake pedal, where the brake pedal travel sensor may be used to collect a brake pedal travel, and typically, the brake pedal travel sensor may preset a fixed sampling time when collecting the brake pedal travel, and collect the brake pedal travel in the sampling time, so as to obtain a change interval of the brake pedal travel. By acquiring the brake pedal stroke acquired by the brake pedal stroke sensor, the present embodiment can determine the braking state of the electric vehicle according to the change in the brake pedal stroke within the sampling time.
Wherein the determination of the braking state of the electric vehicle according to the brake pedal travel may be expressed in particular as:
The method comprises the steps of obtaining a brake pedal stroke and a preset sampling time of an electric vehicle after a brake pedal is triggered from a brake signal generated by a brake pedal stroke sensor, calculating a brake pedal stroke change rate of the electric vehicle in the sampling time according to the brake pedal stroke and the sampling time, for example, dividing the maximum brake pedal stroke collected in the sampling time by the sampling time to obtain the brake pedal stroke change rate, and determining a braking state of the electric vehicle according to the brake pedal stroke change rate, wherein the specific determination method comprises the following steps of: and comparing the calculated brake pedal stroke change rate with a preset brake pedal stroke change rate threshold value, and if the brake pedal stroke change rate is larger than the threshold value, determining that the braking state of the electric vehicle is emergency braking. In this embodiment, the brake pedal stroke change rate threshold may be set higher, and when the obtained brake pedal stroke change rate is greater than the brake pedal stroke change rate threshold, this indicates that the brake pedal stroke of the electric vehicle is changed faster at this time, and the wheel end has a sudden change in braking force, so that it may be determined that the braking state of the electric vehicle is emergency braking, and the electric vehicle shakes.
And S120, if the braking state is an emergency braking state, acquiring a first real-time rotating speed of the motor and the wheel speed of the wheel.
In this embodiment, after determining that the electric vehicle is in an emergency braking state, the torque of the driving motor is controlled to enable the real-time rotation speed of the motor to converge with the wheel speed, so as to control the shake of the electric vehicle in the emergency braking state, so that the shake of the electric vehicle is restrained and separated from the shake, the riding comfort of the electric vehicle is improved, and the friction loss of parts caused by the shake is reduced.
In the embodiment, after the brake pedal is determined to generate the brake signal to indicate emergency braking, the fact that the braking force at the wheel end is suddenly changed can be known, the convergence before the generation of the brake signal is changed into the difference between the wheel speed and the real-time rotating speed of the motor is gradually increased, the electric vehicle shakes, the real-time rotating speed of the motor can be adjusted to eliminate the shake of the electric vehicle, and the real-time rotating speed of the motor is converged with the wheel speed again, so that the shake of the electric vehicle is eliminated.
In this embodiment, in order to eliminate brake shake of the electric vehicle, first, after it is determined that the electric vehicle is in an emergency braking state, a first real-time rotational speed of the motor at a current moment and a wheel speed of a wheel end of the electric vehicle are obtained, and the real-time rotational speed of the motor is adjusted according to a difference between the first real-time rotational speed and the wheel speed, so as to achieve an effect of eliminating shake.
S130, calculating a first reference rotating speed of the motor based on the wheel speed.
In this embodiment, as described above, after the braking signal indicating the emergency braking is generated, the wheel speed of the wheel end of the electric vehicle will be in a state in which the difference from the first real-time rotational speed at the motor is increased from the convergence steering, and when the operation of eliminating the shake is to make the first real-time rotational speed and the wheel speed of the wheel re-converge, the embodiment can calculate the first reference rotational speed of the motor according to the current wheel speed of the electric vehicle, and further adjust the real-time rotational speed of the motor according to the first reference rotational speed, thereby achieving the effect of making the first real-time rotational speed and the wheel speed of the wheel re-converge.
The first reference rotational speed of the motor calculated based on the wheel speed in this embodiment may be expressed specifically as:
And averaging the left wheel speed and the right wheel speed of the electric vehicle to obtain the calibrated wheel speed of the wheels. The left wheel speed in this embodiment may be the wheel speed of the wheel located on the left side of the electric vehicle, and the right wheel speed may be the wheel speed of the wheel located on the right side of the electric vehicle.
In this embodiment, the electric vehicle is different in terms of the left wheel speed and the right wheel speed according to the difference between the front drive and the rear drive. For example, if the front-mounted engine of the electric vehicle in this embodiment is used, the collected left wheel speed is actually the wheel speed of the left wheel at the head of the electric vehicle, and the right wheel speed is the wheel speed of the right wheel at the head of the electric vehicle. If the engine of the electric vehicle in this embodiment adopts the design of the rear-mounted rear-drive, the collected left wheel speed in this embodiment is actually the wheel speed of the left wheel at the tail of the electric vehicle, and the right wheel speed is correspondingly changed into the wheel speed of the right wheel at the tail of the electric vehicle.
In the embodiment, the average value of the left wheel speed and the right wheel speed can be obtained to serve as the calibration wheel speed of the electric vehicle wheel, so that the influence on the calculation of the first reference rotation speed caused by errors when the left wheel speed or the right wheel speed is independently collected to serve as the wheel speed of the wheel is reduced.
After the calibrated wheel speed of the wheel is obtained, the speed ratio preset for the electric vehicle can be obtained, and in the embodiment, the speed ratio is the standard ratio calibrated between the rotating speed of the motor and the wheel speed of the wheel. In the normal running process of the electric vehicle, the motor drives the wheels to rotate through the speed reducer, the differential mechanism and the driving shaft, so that the electric vehicle is driven to integrally advance, and a proportional relationship exists between the wheel speeds of the wheels and the real-time rotating speeds of the motor. In this embodiment, the first reference rotational speed of the motor may be obtained by presetting a speed ratio between the first real-time rotational speed of the motor and the wheel speed of the wheel for the electric vehicle, and multiplying the obtained calibrated wheel speed by the speed ratio when calculating the first reference rotational speed. In the electric vehicle of different types in this embodiment, different speed ratios can be preset due to different motors or wheels and transmission systems for driving the wheels by the motors.
And S140, calculating the update torque of the motor based on the difference between the first real-time rotating speed and the first reference rotating speed.
In this embodiment, after the first reference rotational speed of the motor is calculated, in order to reduce the difference between the real-time rotational speed of the motor of the electric vehicle and the wheel speed of the vehicle, the update torque of the motor may be calculated according to the obtained difference between the first real-time rotational speed and the first reference rotational speed, and when the update torque is executed by the motor, the real-time rotational speed of the motor may approach the first reference rotational speed, so that the real-time rotational speed of the motor approaches the wheel speed of the vehicle, and the shake of the electric vehicle is eliminated.
The update torque of the motor in this embodiment can be expressed specifically as:
And calculating a difference value between the first real-time rotating speed and the first reference rotating speed to obtain a rotating speed difference, and then calculating the torque of the motor under active damping control in a proportional differential control mode through the rotating speed difference to serve as compensation torque. The active damping control in this embodiment refers to the active damping control in this embodiment, which is performed automatically after receiving a brake signal of a brake pedal and determining that the electric vehicle is in a jittering state according to the brake signal when calculating the compensation torque in this embodiment, and the real-time rotation speed of the motor can be automatically adjusted according to the calculated compensation torque, so as to achieve the effect of automatically eliminating the jittering of the electric vehicle.
Specifically, the calculation process of the compensation torque in this embodiment may be expressed as:
The proportional coefficient and the differential coefficient which are calibrated for the electric vehicle in advance are obtained, and the proportional coefficient and the differential coefficient which are calibrated for different types of electric vehicles in the embodiment are different.
The compensation torque of the motor under the active damping control is calculated based on the rotation speed difference, the proportional coefficient and the differential coefficient, for example, when the rotation speed difference is deltaw, the proportional coefficient is k p and the differential coefficient is τ d, the calculation of the compensation torque can be T c＝kp(τds+1)Δw,Tc, namely the compensation torque.
In this embodiment, after the compensation torque is calculated, the real-time torque of the motor can be compensated and controlled, so that the real-time rotation speed of the motor is converged with the wheel speed after emergency braking, specifically, the real-time torque of the motor can be obtained first, and then the compensation torque and the real-time torque are added to obtain the updated torque.
S150, the driving motor executes the update torque
In this embodiment, after the updated torque is calculated, the motor may be driven to execute the updated torque, so that the real-time rotation speed of the motor approaches the wheel speed of the wheel, thereby eliminating the shake of the electric vehicle and enabling the electric vehicle to deviate from the shake state.
In this embodiment, after the motor is driven to execute the update torque, the execution effect may be further confirmed, specifically, the second real-time rotation speed of the motor and the target wheel speed at the wheel may be detected, where the second real-time rotation speed is the real-time rotation speed collected for the motor after the motor is braked to update the torque. The target wheel speed is an average value of the left wheel speed and the right wheel speed of the electric vehicle, which are synchronously acquired at the moment of acquiring the second real-time rotating speed, and then the second reference rotating speed is calculated based on the target wheel speed, and a speed difference value between the second real-time rotating speed and the second reference rotating speed is calculated as the speed difference of the two. If the speed difference is smaller than a preset difference threshold value between the reference rotation speed calculated by the wheel speed and the real-time rotation speed of the motor, the motor is indicated to trend the real-time rotation speed of the motor towards the wheel speed after the torque update is executed, and the shake of the electric vehicle can be determined to be restrained.
According to the technical scheme, the braking state of the electric vehicle is determined by receiving a braking signal triggered by a brake pedal, when the electric vehicle is in emergency braking, the first real-time rotating speed of the motor and the wheel speed of the wheel are obtained, the first reference rotating speed of the motor is calculated according to the wheel speed, the update torque of the motor is calculated according to the difference between the first reference rotating speed and the first real-time rotating speed, and then the motor is driven according to the update torque, so that the vehicle is separated from a shaking state. Compared with the method for detecting vehicle shake through motor rotation speed abrupt change, the method for detecting vehicle shake state of the motor of the invention determines the shake state of the vehicle by detecting the difference between the real-time rotation speed of the motor and the reference rotation speed, avoids the condition that the motor cannot detect shake of the electric vehicle caused by torque fluctuation generated by a driving shaft under a braking working condition when the motor rotation speed is used for detecting the shake state of the vehicle, and enables the electric vehicle to be separated from the shake state in time by driving the motor to execute updating torque, thereby reducing the duration time of the shake state of the electric vehicle, guaranteeing riding comfort and reducing the loss of mechanical parts of the vehicle caused by shake.
Example two
Fig. 2 is a schematic structural diagram of a jitter control apparatus according to a second embodiment of the present invention. As shown in fig. 2, the apparatus includes:
A state determination module 210 for determining a braking state of the electric vehicle according to the braking signal when the braking signal triggered by the brake pedal is received, wherein the braking state comprises slow braking, medium braking and emergency braking;
The rotation speed/wheel speed obtaining module 220 is configured to obtain a first real-time rotation speed of the motor and a wheel speed of the wheel if the braking state is emergency braking;
a first reference rotational speed calculation module 230 for calculating a first reference rotational speed of the motor based on the wheel speed;
An update torque calculation module 240 for calculating an update torque of the motor based on a difference between the first real-time rotational speed and the first reference rotational speed;
An update torque execution module 250 for driving the motor to execute the update torque.
Optionally, the state determining module 210 includes:
The brake signal analysis module is used for acquiring a brake pedal stroke from the brake signal generated by the brake pedal stroke sensor and acquiring sampling time of the brake pedal stroke;
a brake pedal travel rate determination module for calculating a brake pedal travel rate of the electric vehicle according to the brake pedal travel and the sampling time;
And the braking state determining module is used for determining the braking state of the electric vehicle according to the braking pedal stroke change rate.
Optionally, the braking state determining module includes:
the change rate comparison module is used for comparing the brake pedal stroke change rate with a preset brake pedal stroke change rate threshold;
and the emergency braking determining module is used for determining that the braking state is emergency braking if the brake pedal stroke change rate is larger than the brake pedal stroke change rate threshold value.
Optionally, the first reference rotation speed calculation module 230 includes:
The wheel speed and calculation module is used for averaging a left wheel speed and a right wheel speed to obtain a calibration wheel speed of the wheel, wherein the left wheel speed is the wheel speed of the wheel positioned at the left side of the electric vehicle, and the right wheel speed is the wheel speed of the wheel positioned at the right side of the electric vehicle;
the speed proportion acquisition module is used for acquiring a preset speed proportion, wherein the speed proportion is a standard proportion for calibrating the rotation speed of the motor and the wheel speed of the wheel;
and the first reference rotating speed acquisition module is used for multiplying the calibrated wheel speed by the speed proportion to obtain the first reference rotating speed of the motor.
Optionally, the update torque calculation module 240 includes:
The rotating speed difference calculating module is used for calculating the difference between the first real-time rotating speed and the first reference rotating speed to obtain a rotating speed difference;
The compensation torque calculation module is used for calculating the torque of the motor under the active damping control through the rotating speed difference in a proportional differential control mode to serve as compensation torque;
the real-time torque acquisition module is used for acquiring the real-time torque of the motor;
and the updating torque acquisition module is used for adding the compensation torque and the real-time torque to obtain the updating torque.
Optionally, the compensation torque calculation module includes:
the coefficient acquisition module is used for acquiring a proportional coefficient and a differential coefficient which are calibrated for the electric vehicle in advance;
and the compensation torque calculation sub-module is used for calculating the compensation torque of the motor under the active damping control based on the rotating speed difference, the proportional coefficient and the differential coefficient.
Optionally, the jitter control apparatus further includes:
the rotating speed/wheel speed detection module is used for detecting the second real-time rotating speed of the motor and the target wheel speed of the wheel;
A second reference rotational speed calculation module for calculating a second reference rotational speed based on the target wheel speed;
a speed difference calculation module for calculating a speed difference between the second real-time rotational speed and the second reference rotational speed;
And the jitter state separation determining module is used for determining that the jitter of the electric vehicle is restrained if the speed difference is smaller than a preset difference threshold value.
The jitter control device provided by the embodiment of the invention can execute the jitter control method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example III
Fig. 3 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 3, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the respective methods and processes described above, for example, the shake control method.
In some embodiments, the jitter control method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the jitter control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the dithering control method in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (8)
1. A shake control method, characterized by being applied to an electric vehicle including a motor, wheels, and a brake pedal, comprising:
when a brake signal triggered by the brake pedal is received, determining a brake state of the electric vehicle according to the brake signal, wherein the brake state comprises slow brake, medium brake and emergency brake;
if the braking state is emergency braking, acquiring a first real-time rotating speed of the motor and the wheel speed of the wheel;
Calculating a first reference rotational speed of the motor based on the wheel speed;
calculating an updated torque of the motor based on a difference between the first real-time rotational speed and the first reference rotational speed;
Driving the motor to execute the update torque;
the calculating the first reference rotational speed of the motor based on the wheel speed includes:
Averaging a left wheel speed and a right wheel speed to obtain a calibration wheel speed of the wheel, wherein the left wheel speed is the wheel speed of the wheel positioned at the left side of the electric vehicle, and the right wheel speed is the wheel speed of the wheel positioned at the right side of the electric vehicle;
acquiring a preset speed proportion, wherein the speed proportion is a standard proportion for calibrating between the rotating speed of the motor and the calibrated wheel speed;
multiplying the calibrated wheel speed by the speed ratio to obtain a first reference rotational speed of the motor;
the calculating the updated torque of the motor based on the difference between the first real-time rotational speed and the first reference rotational speed includes:
Calculating a difference value between the first real-time rotating speed and the first reference rotating speed to obtain a rotating speed difference;
calculating the torque of the motor under active damping control through the rotation speed difference in a proportional differential control mode to serve as compensation torque;
acquiring the real-time torque of the motor;
and adding the compensation torque and the real-time torque to obtain an updated torque.
2. The method of claim 1, wherein a brake pedal travel sensor is mounted at the brake pedal, the brake pedal travel sensor for generating a brake signal, the determining a braking state of the electric vehicle from the brake signal comprising:
Acquiring a brake pedal stroke from the brake signal generated by the brake pedal stroke sensor and acquiring sampling time of the brake pedal stroke;
calculating a brake pedal travel rate of change of the electric vehicle according to the brake pedal travel and the sampling time;
and determining the braking state of the electric vehicle according to the brake pedal stroke change rate.
3. The method of claim 2, wherein said determining a braking state of the electric vehicle from the brake pedal travel rate of change comprises:
comparing the brake pedal travel change rate with a preset brake pedal travel change rate threshold;
And if the brake pedal stroke change rate is larger than the brake pedal stroke change rate threshold value, determining that the braking state is emergency braking.
4. The method according to claim 1, wherein calculating the torque of the motor under active damping control as a compensation torque by means of the rotational speed difference in a proportional differential control manner comprises:
Acquiring a proportional coefficient and a differential coefficient which are calibrated for the electric vehicle in advance;
And calculating the compensation torque of the motor under the active damping control based on the rotation speed difference, the proportional coefficient and the differential coefficient.
5. The method of any of claims 1-4, wherein after the driving the motor to perform the update torque, the method further comprises:
acquiring a second real-time rotating speed of the motor and a target wheel speed of the wheel;
Calculating a second reference rotational speed based on the target wheel speed;
calculating a speed difference between the second real-time rotational speed and the second reference rotational speed;
And if the speed difference is smaller than a preset difference threshold value, determining that the electric vehicle shake is restrained.
6. A jitter control apparatus, comprising:
the state determining module is used for determining the braking state of the electric vehicle according to the braking signal when receiving the braking signal triggered by the braking pedal, wherein the braking state comprises slow braking, medium braking and emergency braking;
the rotating speed/wheel speed obtaining module is used for obtaining the first real-time rotating speed of the motor and the wheel speed of the wheels if the braking state is emergency braking;
A first reference rotational speed calculation module for calculating a first reference rotational speed of the motor based on the wheel speed;
an update torque calculation module for calculating an update torque of the motor based on a difference between the first real-time rotational speed and the first reference rotational speed;
the updating torque executing module is used for driving the motor to execute the updating torque;
the first reference rotation speed calculation module includes:
The wheel speed and calculation module is used for averaging a left wheel speed and a right wheel speed to obtain a calibration wheel speed of the wheel, wherein the left wheel speed is the wheel speed of the wheel positioned at the left side of the electric vehicle, and the right wheel speed is the wheel speed of the wheel positioned at the right side of the electric vehicle;
The speed proportion acquisition module is used for acquiring a preset speed proportion, wherein the speed proportion is a standard proportion for calibrating the rotation speed of the motor and the calibrated wheel speed;
the first reference rotating speed acquisition module is used for multiplying the calibrated wheel speed by the speed proportion to obtain a first reference rotating speed of the motor;
the update torque calculation module includes:
The rotating speed difference calculating module is used for calculating the difference between the first real-time rotating speed and the first reference rotating speed to obtain a rotating speed difference;
The compensation torque calculation module is used for calculating the torque of the motor under the active damping control through the rotating speed difference in a proportional differential control mode to serve as compensation torque;
the real-time torque acquisition module is used for acquiring the real-time torque of the motor;
and the updating torque acquisition module is used for adding the compensation torque and the real-time torque to obtain the updating torque.
7. An electronic device, the electronic device comprising:
At least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the jitter control method of any one of claims 1-5.
8. A computer readable storage medium storing computer instructions for causing a processor to implement the jitter control method of any one of claims 1-5 when executed.
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| CN115447550B (en) * | 2022-10-17 | 2024-07-26 | 中国第一汽车股份有限公司 | Method, device, apparatus and storage medium for operating an electronic power-assisted brake system |
| CN116872739B (en) * | 2023-08-16 | 2024-02-23 | 山东兴立新能源科技有限公司 | Power-off protection method and device for electric automobile and vehicle |
| CN116968704B (en) * | 2023-09-21 | 2024-01-02 | 小米汽车科技有限公司 | Vehicle brake control method, device, storage medium and vehicle |
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| KR102484929B1 (en) * | 2017-12-28 | 2023-01-04 | 현대자동차주식회사 | Method for controlling maximum speed of vehicle driven by motor |
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| CN111332134A (en) * | 2020-03-25 | 2020-06-26 | 东风汽车集团有限公司 | Motor jitter prevention control system and method for hydrogen fuel cell vehicle |
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