The invention provides an electric vehicle anti-shake control method, device and equipment and a readable storage medium, and the method comprises the steps: in each control period, calculating the fitting slope of the latest n motor angular speeds according to a least square method, and obtaining the real-time angular acceleration; in every x control periods, the historical angular velocity set is updated, fitting slopes of the historical angular velocity set and the k historical angular velocity subsets are calculated according to a least square method, an overall angular acceleration and k segmented angular accelerations are obtained, and a compensation coefficient is obtained through calculation according to a first calibration constant, the overall angular acceleration and the k segmented angular accelerations; and in each control period, calculating the product of the compensation coefficient and the target angular acceleration to obtain a compensation torque. By means of the method and device, when the whole vehicle is started in an anti-shake mode, real shake can be correctly recognized, and it is avoided that when normal acceleration and deceleration are conducted and a stable road section outputs large compensation torque to prevent shake, and normal power output is affected.

    本申请提供一种电动汽车防抖控制方法、装置、设备及可读存储介质,该方法包括:在每个控制周期,根据最小二乘法计算最新的n个电机角速度的拟合斜率,得到实时角加速度;在每x个控制周期,更新历史角速度合集,根据最小二乘法分别计算历史角速度合集和k个历史角速度子集的拟合斜率,得到整体角加速度和k个分段角加速度,根据第一标定常数、整体角加速度和k个分段角加速度计算得到补偿系数;在每个控制周期,计算补偿系数和目标角加速度的乘积得到补偿扭矩。通过本申请,在整车防抖开启的时候,能够正确识别真正的抖动,避免在正常加减速以及平稳路段输出较大的补偿扭矩来防抖,影响正常的动力输出。


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    Title :

    Electric vehicle anti-shake control method, device and equipment and readable storage medium


    Additional title:

    电动汽车防抖控制方法、装置、设备及可读存储介质


    Contributors:
    HE XUN (author) / ZHENG CHUNYANG (author) / CHEN SHUN (author)

    Publication date :

    2024-11-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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