The invention provides an electric vehicle control method and device, control equipment and a vehicle, and the control method comprises the steps: calculating a motor rotating speed fluctuation parameter according to the rotating speed of a motor, and enabling the motor rotating speed fluctuation parameter to be positively correlated with the fluctuation degree of the motor rotating speed; judgingwhether an active damping control mode needs to be entered or not according to whether the motor speed fluctuation parameter is greater than or equal to a preset threshold or not; when an active damping control mode needs to be entered, calculating active damping control compensation parameters according to the motor rotating speed fluctuation parameters, wherein the active damping control compensation parameters are in positive correlation with the motor rotating speed fluctuation parameters; performing band-pass filtering on the motor rotating speed to obtain a disturbance signal of the motor rotating speed in a preset frequency interval; performing PI control according to the disturbance signal and the active damping control compensation parameter, and calculating an active damping compensation torque; and performing torque compensation on the driving motor according to the active damping compensation torque. According to the invention, the torque command of the driving motor is compensated, so that the active damping control of the electric automobile with a better effect is realized.
本发明提供一种电动汽车的控制方法、装置、控制设备及汽车,控制方法包括:根据电机转速计算电机转速波动参数,电机转速波动参数与电机转速的波动程度正相关;根据电机转速波动参数是否大于或等于预设门限,判断是否需要进入主动阻尼控制模式;在需要进入主动阻尼控制模式时,根据电机转速波动参数计算主动阻尼控制补偿参数,主动阻尼控制补偿参数与电机转速波动参数正相关;对电机转速进行带通滤波,获得电机转速在预设频率区间的扰动信号;根据扰动信号和主动阻尼控制补偿参数进行PI控制,计算主动阻尼补偿扭矩;根据主动阻尼补偿扭矩对驱动电机进行扭矩补偿。本发明通过对驱动电机扭矩命令进行补偿,实现了效果较佳的电动汽车主动阻尼控制。
Control method and device of electric automobile, control equipment and automobile
一种电动汽车的控制方法、装置、控制设备及汽车
2021-01-12
Patent
Elektronische Ressource
Chinesisch
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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