The invention discloses a torsional vibration control method based on a slip state, and the method comprises the steps: obtaining the real-time angular acceleration of a motor rotor, and calculating the target angular acceleration according to the real-time angular acceleration; comparing the target angular acceleration with an angular acceleration threshold; when the target angular acceleration is equal to or greater than the angular acceleration threshold value, revising a request torque to obtain a revised torque; superposing the revised torque and the anti-shake torque to obtain an actual motor electromagnetic torque; and carrying out torsional vibration control on the vehicle by using the actual motor electromagnetic torque. Whether the vehicle is in the slipping state or not is judged through the real-time angular acceleration, then the actual torque of the vehicle is controlled according to the slipping state, the low-adhesion road surface tire slipping control problem caused by VCU arbitration response and transmission delay is solved, the actual load of the wheel end can be calculated more effectively, and the stability of the vehicle is improved. And the problem of vibration noise caused by abnormal acceleration of tire speed is avoided.
本发明公开了一种基于打滑状态的扭振控制方法,所述方法包括:获取电机转子的实时角加速度,并根据所述实时角加速度计算目标角加速度;将所述目标角加速度与角加速度阈值进行比较;在所述目标角加速度等于或大于所述角加速度阈值,对请求力矩进行修订,得到修订力矩;将所述修订力矩与防抖力矩进行叠加,得到实际电机电磁力矩;以所述实际电机电磁力矩为车辆进行扭振控制。本发明通过实时角加速度来判断车辆是否处于打滑状态,然后根据打滑状态来控制车辆的实际力矩,解决了由于VCU仲裁响应和传输延时带来的低附着路面轮胎打滑控制问题,可以更加有效计算轮端实际负载,避免轮胎速度异常加速带来的振动噪声问题。
Torsional vibration control method and device based on slip state, equipment and medium
基于打滑状态的扭振控制方法、装置、设备及介质
2023-04-18
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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