CN114987222A - 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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- 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
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Abstract
The invention discloses a jitter control method, a jitter control device, electronic equipment and a storage medium, wherein a brake state of an electric vehicle is determined by receiving a brake signal triggered by a brake pedal, a first real-time rotating speed of a motor and a wheel speed of a wheel are obtained in an emergency brake state, a first reference rotating speed of the motor is calculated according to the wheel speed, an updating 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 updating torque so as to enable the vehicle to be out of the jitter state. The shaking state of the vehicle is determined by detecting the difference between the real-time rotating speed of the motor in the vehicle and the reference rotating speed, the condition that the shaking of the electric vehicle is caused because the driving shaft is excited by the wheel end braking force under the braking working condition and the torque fluctuation is generated by the vehicle cannot be detected when the shaking state of the vehicle is detected by using the rotating speed of the motor is avoided, the shaking of the electric vehicle is processed in time, the duration time of the shaking state of the electric vehicle is shortened, and the riding comfort is ensured.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a method and an apparatus for controlling jitter, an electronic device, and a storage medium.
Background
The pure electric vehicle takes a vehicle-mounted power supply as power, and the wheels are driven by the motor to run, so the pure electric vehicle is widely accepted and popularized by the market due to the characteristics of environmental protection and energy conservation. However, most of the power transmission systems of the existing pure electric vehicles are that a driving motor directly drives wheels after passing through a single-stage speed reducer, and devices such as a gear shifting mechanism, a clutch and a hydraulic torque converter do not exist 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 structures such as the clutch do not exist in the braking process, and when the vehicle is in the braking working condition through a brake pedal, particularly when an ABS works, a driving half shaft of the vehicle generates large torque fluctuation under the excitation of wheel end braking force, so that the shaking of the transmission system is caused and the shaking of the whole vehicle is accompanied.
The method for inhibiting the pure electric vehicle from shaking at present mainly comprises the steps of determining shaking of a vehicle body by detecting the rotating speed of a motor, and inhibiting the shaking by applying damping torque to the motor, wherein the damping torque is opposite to the current rotating speed of the motor or the shaking direction of the angular acceleration of the motor. However, as described above, when the wheel-end braking force of the pure electric vehicle suddenly changes during a braking operation, the vehicle is similarly shaken due to torque fluctuation generated by driving the half shaft, and it is difficult to detect a change in the wheel-end braking force by the rotation speed of the motor itself, and when a method of determining the shaking and suppressing the shaking by detecting the rotation speed of the motor is applied, the shaking generated by the vehicle under the influence of the sudden change in the wheel-end braking force cannot be detected and suppressed, which not only deteriorates ride comfort, but also accelerates wear of mechanical parts of the vehicle and increases vehicle use cost.
Disclosure of Invention
The invention provides a jitter control method, electronic equipment and a storage medium, aiming at solving the problem that the method for controlling jitter by detecting the sudden change of the rotating speed of a motor cannot detect the jitter generated by the sudden change of the braking force of a wheel end of an electric vehicle under the braking working condition.
According to an aspect of the present invention, there is provided a jitter control method including:
when a braking signal triggered by the brake pedal is received, determining the braking state of the electric vehicle according to the braking signal, wherein the braking state comprises slow braking, medium braking and emergency braking;
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 electric machine based on a difference between the first real-time rotational speed and the first reference rotational speed;
driving the motor to perform the update torque.
According to another aspect of the present invention, there is provided a shake control apparatus including:
the state determination module is used for determining the 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;
a rotation speed/wheel speed obtaining module, 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 rotation speed calculation module for calculating a first reference rotation speed of the motor based on the wheel speed;
an update torque calculation module to calculate 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 content of the first and second substances,
the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the jitter control method according to any 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 a jitter control method according to any one of the embodiments of the present invention when the computer instructions are 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, a first real-time rotating speed of a motor and the wheel speed of a wheel are obtained, a first reference rotating speed of the motor is calculated according to the wheel speed, the updating 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 updating torque so that the vehicle is separated from a shaking state. Compared with the method for detecting the vehicle shaking through the motor rotating speed sudden change, the shaking state of the vehicle is determined through detecting the difference between the real-time rotating speed of the motor in the vehicle and the reference rotating speed, the condition that the shaking of the electric vehicle is caused by the fact that the torque fluctuation of the vehicle is generated by a driving shaft under the braking working condition when the shaking state of the vehicle is detected through the rotating speed of the motor is avoided, the updating torque is executed through the driving motor, the electric vehicle is separated from the shaking state in time, the duration time of the shaking state of the electric vehicle is shortened, the riding comfort is guaranteed, and the loss of mechanical parts of the vehicle caused by shaking is reduced.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of a jitter control method according to an 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 the jitter control method according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or 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 one
Fig. 1 is a flowchart of a shake control method according to an embodiment of the present invention, which may be applied to detect and eliminate the shake of an electric vehicle under a braking condition, and the method may be implemented by a shake control device, which 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:
and S110, when a braking signal triggered by a brake pedal is received, determining the braking state of the electric vehicle according to the braking 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, and the electric vehicles comprise pure electric vehicles. The pure electric vehicle takes a vehicle-mounted power supply as power, wheels are driven to run through a motor, wherein the vehicle-mounted power supply of the pure electric vehicle 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.
In the embodiment, the brake pedal can be triggered to generate the brake signal when being stepped, meanwhile, the brake signal can be divided into a plurality of types according to the pedal stroke when the brake pedal is stepped, for example, when the brake pedal stroke is relatively large and the time of the change process of the brake pedal stroke from 0 to the maximum stroke of the stepping process 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 small or the time of the change process of the brake pedal stroke from 0 to the maximum brake pedal stroke of this stepping process is long, the brake signal may indicate that the electric vehicle is in a slow braking state, and when the brake pedal stroke is medium or the time of the change process of the brake pedal stroke from 0 to the maximum brake pedal stroke of this stepping process is not particularly long or not particularly short, the brake signal may indicate that the electric vehicle is in a medium braking state.
In addition, in the embodiment, the motor and the wheels of the pure electric vehicle are mostly in a driving mode that the motor directly drives the wheels after passing through the single-machine speed reducer, and no gear shifting mechanism or intermediate mechanisms such as a clutch and a hydraulic torque converter exist between the motor and the wheels, so that the pure electric vehicle has an underdamping characteristic and is easy to shake. In this embodiment, when the braking signal indicates emergency braking, sudden braking force change occurs at a wheel of the pure electric vehicle, so that large torque fluctuation of a drive half shaft of the pure electric vehicle is caused, and finally shaking of the vehicle body of the pure electric vehicle is caused.
Specifically, in this embodiment, a brake pedal stroke sensor may be installed at the brake pedal, and the brake pedal stroke sensor may be configured to acquire a brake pedal stroke, and a fixed sampling time may be preset in advance when the brake pedal stroke is acquired by the brake pedal stroke sensor, so as to acquire a brake pedal stroke variation interval within the sampling time. By obtaining the brake pedal stroke collected by the brake pedal stroke sensor, the present embodiment may determine the braking state of the electric vehicle according to the change of the brake pedal stroke within the sampling time.
The determination of the braking state of the electric vehicle according to the brake pedal stroke may be embodied as:
obtaining a brake pedal travel and preset sampling time of the electric vehicle after a brake pedal is triggered from a brake signal generated by a brake pedal travel sensor, then calculating a brake pedal travel change rate of the electric vehicle in the sampling time according to the brake pedal travel and the sampling time, for example, dividing a maximum brake pedal travel collected in the sampling time by the sampling time to obtain the brake pedal travel change rate, and then determining a braking state of the electric vehicle according to the brake pedal travel change rate, wherein the specific determination method is represented as: and comparing the calculated stroke change rate of the brake pedal with a preset threshold value of the stroke change rate of the brake pedal, and if the stroke change rate of the brake pedal is greater than the threshold value, determining that the braking state of the electric vehicle is emergency braking. In this embodiment, the threshold of the brake stroke change rate may be set to be higher, and when the obtained change rate of the brake pedal stroke is greater than the threshold of the brake pedal stroke change rate, it indicates that the brake pedal stroke of the electric vehicle changes 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 it is determined that the electric vehicle is in the emergency braking state, the real-time rotation speed of the motor is made to coincide with the wheel speed by controlling the torque of the driving motor, so as to control the shaking of the electric vehicle in the emergency braking state, so that the shaking of the electric vehicle is suppressed and separated from the shaking, thereby increasing the riding comfort of the electric vehicle and reducing the part friction loss and the like caused by the shaking.
In this embodiment, after it is determined that the brake signal generated by the brake pedal indicates emergency braking, it is known that the braking force at the wheel end suddenly changes, and the convergence between the wheel speed and the real-time rotation speed of the motor before the generation of the brake signal is changed into a difference which gradually increases, so that the electric vehicle generates jitter.
In this embodiment, to eliminate the brake judder of the electric vehicle, first, after it is determined that the electric vehicle is in the emergency braking state, the first real-time rotation speed of the motor at the current time and the wheel speed of the wheel end of the electric vehicle are obtained, and the real-time rotation speed of the motor is adjusted according to a difference between the first real-time rotation speed and the wheel speed, so as to achieve an effect of eliminating the judder.
And S130, calculating a first reference rotating speed of the motor based on the wheel speed.
In this embodiment, as described above, after the brake signal indicating the emergency braking is generated, the wheel speed at the wheel end of the electric vehicle and the first real-time rotation speed at the motor are in a state of increasing from the convergence steering difference, and when the operation of removing the jitter is to make the first real-time rotation speed and the wheel speed of the wheel converge again, this embodiment may calculate the first reference rotation speed of the motor according to the current wheel speed of the electric vehicle, and further adjust the real-time rotation speed of the motor according to the first reference rotation speed, thereby achieving the effect of making the first real-time rotation speed and the wheel speed of the wheel converge again.
The first reference rotation speed of the motor calculated based on the wheel speed in the embodiment may be specifically expressed as:
and averaging the left wheel speed and the right wheel speed of the electric vehicle to obtain the calibrated wheel speed of the wheel. The left wheel speed in this embodiment may be a wheel speed of a wheel located on the left side of the electric vehicle, and the right wheel speed may be a wheel speed of a wheel located on the right side of the electric vehicle.
In the embodiment, the electric vehicle has different left wheel speed and right wheel speed according to different front driving and rear driving. For example, if the engine of the electric vehicle in this embodiment adopts a front-wheel drive design, the acquired left wheel speed is actually the wheel speed of the left wheel at the head of the electric vehicle, and the acquired 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 rear-drive design, the left wheel speed collected 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 also the wheel speed of the right wheel at the tail of the electric vehicle.
The average value of the left wheel speed and the right wheel speed can be calculated in the embodiment to serve as the calibration wheel speed of the electric vehicle wheel, and the influence of errors caused by the fact that the left wheel speed or the right wheel speed is independently collected to serve as the wheel speed on the calculation of the first reference rotating speed is reduced.
After the calibrated wheel speed of the wheel is obtained, a preset speed ratio of the electric vehicle can be obtained, and the speed ratio is a standard ratio calibrated between the rotating speed of the motor and the wheel speed of the wheel in the embodiment. 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 relation exists between the wheel speed of the wheels and the real-time rotating speed of the motor. In this embodiment, a speed ratio of a first real-time rotation speed of the motor to a wheel speed of the wheel is preset for the electric vehicle, and when the first reference rotation speed is calculated, the obtained calibration wheel speed is multiplied by the speed ratio, so that the first reference rotation speed of the motor can be obtained. In the embodiment, different types of electric vehicles can be respectively preset with different speed ratios due to different motors or wheels and different transmission systems of the motor-driven wheels.
And S140, calculating the updated 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 rotation speed of the motor is obtained through calculation, in order to reduce the difference between the real-time rotation 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 difference between the obtained first real-time rotation speed and the first reference rotation speed, and after the motor executes the update torque, the real-time rotation speed of the motor may approach the first reference rotation speed, so that the real-time rotation speed of the motor approaches the wheel speed of the vehicle, and the jitter of the electric vehicle is eliminated.
The calculation of the update torque of the motor in the present embodiment may be specifically expressed as:
and calculating the difference 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 the active damping control through the rotating speed difference in a proportional differential control mode to serve as compensation torque. The active damping control in this embodiment is that the active damping control in this embodiment is performed automatically after receiving a brake signal of a brake pedal during calculation of the compensation torque and determining that the electric vehicle is in a shaking state according to the brake signal, and this embodiment may automatically adjust a real-time rotation speed of a motor according to the calculated compensation torque to achieve an effect of automatically eliminating shaking of the electric vehicle, which is the process referred to as the active damping control in this embodiment.
Specifically, the calculation process of the compensation torque in the embodiment may be represented as follows:
the proportional coefficient and the differential coefficient calibrated for the electric vehicle in advance are obtained, and the proportional coefficient and the differential coefficient calibrated for different types of electric vehicles are different in the embodiment.
Calculating the compensating torque of the motor under active damping control based on the speed difference and the proportionality coefficient and the differential coefficient, e.g. when the speed difference is Δ w, the proportionality coefficient is k p Coefficient of differentiation of τ d The compensation torque may be calculated as T c ＝k p (τ d s+1)Δw,T c I.e. the compensation torque.
In this embodiment, after the compensation torque is calculated, the real-time torque of the motor may be compensated and controlled, so that the real-time rotation speed of the motor and the wheel speed after emergency braking converge, specifically, the real-time torque of the motor may be obtained first, and then the compensation torque and the real-time torque are added to obtain the update torque.
S150, driving the motor to execute the updating torque
In this embodiment, after the update torque is calculated, the motor may be driven to execute the update torque, so that the real-time rotation speed of the motor approaches the wheel speed, thereby eliminating the shake of the electric vehicle and disengaging the electric vehicle from the shake state.
In this embodiment, after the driving motor executes the update torque, the execution effect may also be confirmed, specifically, the second real-time rotation speed of the motor and the target wheel speed at the wheel are detected, and the second real-time rotation speed is the real-time rotation speed acquired by the motor after the motor brakes the update torque. And calculating a second reference rotating speed based on the target wheel speed, and calculating a speed difference value between the second real-time rotating speed and the second reference rotating speed as the speed difference of the two. If the speed difference is smaller than a preset difference threshold value between the reference rotating speed calculated by the wheel speed and the real-time rotating speed of the motor, the fact that the real-time rotating speed of the motor tends to the wheel speed of the wheel after the motor executes the updating torque can be indicated, and the fact that the shaking of the electric vehicle is restrained can be confirmed.
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, a first real-time rotating speed of a motor and the wheel speed of a wheel are obtained, a first reference rotating speed of the motor is calculated according to the wheel speed, the updating 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 updating torque so that the vehicle is separated from a shaking state. Compared with the method for detecting the vehicle shaking through the motor rotating speed abrupt change, the shaking state of the vehicle is determined through detecting the difference between the real-time rotating speed and the reference rotating speed of the motor in the vehicle, the condition that the shaking of the electric vehicle is caused by the fact that the torque fluctuation generated by a driving shaft of the vehicle under the braking working condition cannot be detected when the shaking state of the vehicle is detected through the rotating speed of the motor is avoided, the torque is updated through the driving motor, the electric vehicle is separated from the shaking state in time, the duration time of the shaking state of the electric vehicle is shortened, the riding comfort is guaranteed, and the loss of mechanical parts of the vehicle caused by shaking is reduced.
Example two
Fig. 2 is a schematic structural diagram of a jitter control device according to a second embodiment of the present invention. As shown in fig. 2, the apparatus includes:
the state determination module 210 is configured to determine, when a braking signal triggered by the brake pedal is received, a braking state of the electric vehicle according to the braking signal, where the braking state includes slow braking, medium braking, and emergency braking;
a rotation speed/wheel speed obtaining module 220, 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 rotation speed calculation module 230 for calculating a first reference rotation speed of the motor based on the wheel speed;
an updated torque calculation module 240 for 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 an update torque executing 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 the travel of the brake pedal from the brake signal generated by the brake pedal travel sensor and acquiring the sampling time of the travel of the brake pedal;
the brake pedal stroke rate determining module is used for calculating the brake pedal stroke rate of the electric vehicle according to the brake pedal stroke and the sampling time;
and the braking state determining module is used for determining the braking state of the electric vehicle according to the stroke change rate of the brake pedal.
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 value;
and the emergency braking determining module is used for determining that the braking state is emergency braking if the brake pedal travel change rate is greater than the brake pedal travel change rate threshold.
Optionally, the first reference rotation speed calculating module 230 includes:
a wheel speed and calculation module for averaging a left wheel speed and a right wheel speed to obtain a calibrated wheel speed of the wheel, the left wheel speed being the wheel speed of the wheel on the left side of the electric vehicle, the right wheel speed being the wheel speed of the wheel on the right side of the electric vehicle;
the speed ratio acquisition module is used for acquiring a preset speed ratio, wherein the speed ratio is a standard ratio calibrated between the rotating speed of the motor and the wheel speed of the wheel;
and the first reference rotating speed obtaining module is used for multiplying the calibrated wheel speed by the speed proportion to obtain a 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 value 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 an updating torque.
Optionally, the compensation torque calculation module includes:
the coefficient acquisition module is used for acquiring a proportionality coefficient and a differential coefficient which are calibrated for the electric vehicle in advance;
and the compensation torque calculation submodule is used for calculating the compensation torque of the motor under the active damping control based on the rotating speed difference, the proportionality coefficient and the differential coefficient.
Optionally, the jitter controlling device further includes:
the rotating speed/wheel speed detection module is used for detecting a second real-time rotating speed of the motor and a target wheel speed of the wheel;
a second reference rotation speed calculation module for calculating a second reference rotation speed based on the target wheel speed;
the speed difference calculation module is used for calculating the speed difference between the second real-time rotating speed and the second reference rotating speed;
and the shaking state disengagement determining module is used for determining that the shaking 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 corresponding functional modules and beneficial effects of the execution method.
EXAMPLE III
FIG. 3 illustrates a block diagram 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. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, 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 communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM)12, a Random Access Memory (RAM)13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM)12 or the computer program loaded from a storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 can 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.
A number of 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, or the like; 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, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, or the like. The processor 11 performs the various methods and processes described above, such as the dither control method.
In some embodiments, the jitter control method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as 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 the RAM 13 and executed by the 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 jitter control method by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a 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 that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for implementing the 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 performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a 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. A 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) by 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 can 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, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end 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 back-end, 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. A client and server are generally 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 host and VPS service are overcome.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A shake control method applied to an electric vehicle including a motor, wheels, and a brake pedal, the method comprising:
when a braking signal triggered by the brake pedal is received, determining the braking state of the electric vehicle according to the braking signal, wherein the braking state comprises slow braking, medium braking and emergency braking;
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 perform the update torque.
2. The method of claim 1, wherein a brake pedal travel sensor is mounted at the brake pedal for generating a braking signal, said determining a braking status of the electric vehicle from the braking 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 change rate 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 status of the electric vehicle as a function of the rate of change of brake pedal travel comprises:
comparing the 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 brake pedal stroke change rate threshold, determining that the braking state is emergency braking.
4. The method of claim 1, wherein said calculating a first reference rotational speed of said electric machine based on said wheel speed comprises:
averaging a left wheel speed of the wheel on the left side of the electric vehicle and a right wheel speed of the wheel on the right side of the electric vehicle to obtain a calibrated wheel speed of the wheel;
acquiring a preset speed proportion, wherein the speed proportion is a standard proportion calibrated between the rotating speed of the motor and the speed of the calibrating wheel;
and multiplying the calibrated wheel speed by the speed ratio to obtain a first reference rotating speed of the motor.
5. The method of claim 1, wherein said calculating an updated torque of the motor based on the difference between the first real-time rotational speed and the first reference rotational speed comprises:
calculating the difference 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 the active damping control through the rotating speed difference in a proportional differential control mode to serve as compensation torque;
acquiring real-time torque of the motor;
and adding the compensation torque and the real-time torque to obtain an updated torque.
6. The method according to claim 5, wherein the calculating the torque of the motor under the active damping control by the rotational speed difference in the manner of proportional differential control as a compensation torque 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 rotating speed difference, the proportionality coefficient and the differential coefficient.
7. The method of any of claims 1-6, 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 rotation speed and the second reference rotation speed;
and if the speed difference is smaller than a preset difference threshold value, determining that the shaking of the electric vehicle is restrained.
8. A jitter control apparatus, comprising:
the state determination module is used for determining the 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;
a rotation speed/wheel speed obtaining module, 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 rotation speed calculation module for calculating a first reference rotation speed of the motor based on the wheel speed;
an update torque calculation module to calculate 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.
9. An electronic device, characterized in that the electronic device comprises:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
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 of claims 1-7.
10. A computer-readable storage medium storing computer instructions for causing a processor to implement the jitter control method of any of claims 1-7 when executed.
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| CN202210712953.5A CN114987222A (en) | 2022-06-22 | 2022-06-22 | Jitter control method and device, electronic equipment and storage medium |
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