CN109866625A - Vehicle, the method and apparatus for eliminating vehicle shake - Google Patents
Vehicle, the method and apparatus for eliminating vehicle shake Download PDFInfo
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- CN109866625A CN109866625A CN201910185698.1A CN201910185698A CN109866625A CN 109866625 A CN109866625 A CN 109866625A CN 201910185698 A CN201910185698 A CN 201910185698A CN 109866625 A CN109866625 A CN 109866625A
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention discloses a kind of vehicle, the method and apparatus for eliminating vehicle shake, the method for eliminating vehicle shake, comprising the following steps: according to the state of accelerator pedal on vehicle, obtain the moment of torsion control curve of vehicle；It wherein, include the output torque of different moments motor in moment of torsion control curve；According to moment of torsion control curve, the output torque of motor output in vehicle is controlled；Obtain rotation speed change amount of the motor under output torque；According to rotation speed change amount, vehicle is judged with the presence or absence of shake, if it is judged that vehicle then adjusts moment of torsion control curve in the presence of shake, until vehicle eliminates adjustment of the shake stopping to moment of torsion control curve.The of the invention method for eliminating vehicle shake, can be by adjusting moment of torsion control curve, come jitter phenomenon generated when eliminating zero crossing that motor switches between positive negative torque, to improve the comfort of vehicle, dynamic property.
Description
Technical field
The present invention relates to technical field of vehicle more particularly to a kind of method for eliminating vehicle shake, a kind of elimination vehicle to tremble
Dynamic device and a kind of vehicle with the device.
Background technique
Developing new-energy automobile is national strategy, the research and development in more than 10 years of process and demonstrating running, China's new energy vapour
Garage is formd already from the key components and parts development & production such as raw material supply, power battery, entire car controller, is set to vehicle
The complete industrial chains such as the auxiliary construction of meter manufacture and charging infrastructure, have conditions for sports industry.
For new-energy automobile in the scheme coupled using motor and retarder, motor can be from positive-torque to negative torque or negative twist
Square is switched over to positive-torque, since there are gaps between spline fitted, can there is mechanical shock, and vehicle is caused to there is shake
The phenomenon that, to seriously affect the comfort of vehicle, dynamic property.
Summary of the invention
One of the technical issues of the present invention is directed at least solve in the related technology to a certain extent.
For this purpose, the first purpose of this invention is that a kind of method for proposing elimination vehicle shake, this method can pass through
Moment of torsion control curve is adjusted, come jitter phenomenon generated when eliminating zero crossing that motor switches between positive negative torque, thus
Improve comfort, the dynamic property of vehicle.
Second object of the present invention is to propose a kind of device of elimination vehicle shake.
Third object of the present invention is to propose a kind of vehicle.
Fourth object of the present invention is to propose a kind of electronic equipment.
5th purpose of the invention is to propose a kind of computer readable storage medium.
In order to achieve the above objectives, first aspect present invention embodiment proposes a kind of method of elimination vehicle shake, including
Following steps: according to the state of accelerator pedal on vehicle, the moment of torsion control curve of the vehicle is obtained；Wherein, the torque control
It include the output torque of different moments motor in koji-making line；According to the moment of torsion control curve, it is defeated to control motor in the vehicle
The output torque out；Obtain rotation speed change amount of the motor under the output torque；According to the rotation speed change amount,
Judge that the vehicle then adjusts the moment of torsion control curve, directly if it is judged that the vehicle has shake with the presence or absence of shake
Adjustment of the shake stopping to the moment of torsion control curve is eliminated to the vehicle.
The method according to an embodiment of the present invention for eliminating vehicle shake, obtains according to the state of accelerator pedal on vehicle first
The moment of torsion control curve of vehicle includes the output torque of different moments motor in the moment of torsion control curve, then according to torque control
The output torque that motor exports in koji-making line traffic control vehicle finally obtains rotation speed change amount of the motor under output torque, and root
Judge that vehicle then adjusts moment of torsion control curve, directly if it is judged that vehicle has shake with the presence or absence of shake according to rotation speed change amount
Adjustment of the shake stopping to moment of torsion control curve is eliminated to vehicle.This method can be come as a result, by adjusting moment of torsion control curve
Generated jitter phenomenon when the zero crossing that motor switches between positive negative torque is eliminated, to improve the comfort of vehicle, move
Power.
In addition, the method for the elimination vehicle shake proposed according to that above embodiment of the present invention can also have it is following additional
Technical characteristic:
According to one embodiment of present invention, it according to the moment of torsion control curve, controls motor output in the vehicle and works as
The torque at preceding moment, comprising: from the moment of torsion control curve, obtain the torque at the current time；According to it is described current when
The torque at quarter inquires the mapping relations between preset torque and electric current, obtains and the matched mesh of the torque at the current time
Mark electric current；It controls to the motor and inputs the target current, so that the motor exports the torque at the current time.
According to one embodiment of present invention, described according to the rotation speed change amount, judge that the vehicle whether there is and trembles
It is dynamic, comprising: to be compared the rotation speed change amount with preset variable quantity threshold value, if the rotation speed change amount is greater than described
Variable quantity threshold value, it is determined that the vehicle has shake；If the rotation speed change amount is less than or equal to the variable quantity threshold
Value, it is determined that the vehicle does not have shake, continues according to motor output torque described in the moment of torsion control curve controlled.
According to one embodiment of present invention, the state according to accelerator pedal on vehicle, obtains the torsion of the vehicle
Square controlling curve, comprising: according to the aperture of the accelerator pedal, obtain the target torque of the vehicle；It is stepped on according to the acceleration
The aperture change rate of plate obtains the moment of torsion control slope of a curve；Initial torque according to the motor at current time, institute
Moment of torsion control slope of a curve and the target torque are stated, the moment of torsion control curve is generated.
According to one embodiment of present invention, the adjustment moment of torsion control curve, until the vehicle eliminates shake
After stopping to the adjustment of the moment of torsion control curve, further includes: the moment of torsion control curve obtained after being shaken according to elimination,
The output torque of the motor is updated until the target torque.
According to one embodiment of present invention, after the target torque for obtaining the vehicle, further includes: described in determining
Target torque is in preset torque range.
In order to achieve the above objectives, second aspect of the present invention embodiment proposes a kind of device of elimination vehicle shake, comprising:
First acquisition module obtains the moment of torsion control curve of the vehicle for the state according to accelerator pedal on vehicle；Wherein, institute
State the output torque in moment of torsion control curve including different moments motor；Output module is used for according to the moment of torsion control curve,
Control the output torque that motor exports in the vehicle；Second obtains module, for obtaining the motor in the output
Rotation speed change amount under torque；Control module, for judging that the vehicle whether there is shake according to the rotation speed change amount,
If it is judged that the vehicle then adjusts the moment of torsion control curve in the presence of shake, until the vehicle eliminates shake stopping pair
The adjustment of the moment of torsion control curve.
The device according to an embodiment of the present invention for eliminating vehicle shake is stepped on by the first acquisition module according to acceleration on vehicle
The state of plate obtains the moment of torsion control curve of vehicle, includes the output torque of different moments motor in the moment of torsion control curve, so
Afterwards by output module according to moment of torsion control curve, the output torque of motor output in vehicle is controlled, is obtained finally by second
Module obtains whether rotation speed change amount of the motor under output torque judges vehicle so that control module is according to rotation speed change amount
There are shakes then to adjust moment of torsion control curve if it is judged that vehicle has shake, until vehicle is eliminated shake and stopped to torque
The adjustment of controlling curve.The device can be cut by adjusting moment of torsion control curve to eliminate motor between positive negative torque as a result,
Generated jitter phenomenon when the zero crossing changed, to improve the comfort of vehicle, dynamic property.
In order to achieve the above objectives, third aspect present invention embodiment proposes a kind of vehicle comprising above-mentioned elimination vehicle
Shake device.
The vehicle of the embodiment of the present invention can be by adjusting moment of torsion control by the above-mentioned device for eliminating vehicle shake
Curve, come jitter phenomenon generated when eliminating zero crossing that motor switches between positive negative torque, to improve relaxing for vehicle
Adaptive, dynamic property.
In order to achieve the above objectives, fourth aspect present invention embodiment proposes a kind of electronic equipment comprising memory, place
Manage device；Wherein, the processor is held to run with described by reading the executable program code stored in the memory
The corresponding program of line program code, for realizing the above-mentioned method for eliminating vehicle shake.
The electronic equipment of the embodiment of the present invention, can be by adjusting moment of torsion control curve, to eliminate motor in positive negative torque
Between switch zero crossing when generated jitter phenomenon, to improve the comfort of vehicle, dynamic property.
In order to achieve the above objectives, fifth aspect present invention embodiment proposes a kind of computer readable storage medium, described
Computer program is stored on computer readable storage medium, which realizes that above-mentioned elimination vehicle is trembled when being executed by processor
Dynamic method.
The computer readable storage medium of the embodiment of the present invention, by executing the above-mentioned method for eliminating vehicle shake, energy
It is enough by adjusting moment of torsion control curve, it is existing come generated shake when eliminating zero crossing that motor switches between positive negative torque
As to improve the comfort of vehicle, dynamic property.
Detailed description of the invention
Fig. 1 is the flow chart of the method for elimination vehicle shake according to an embodiment of the present invention；
Fig. 2 is the flow chart of the method for elimination vehicle shake according to an embodiment of the invention；And
Fig. 3 is the block diagram of the device of elimination vehicle shake according to an embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
Device to describe the method for eliminating vehicle shake of the embodiment of the present invention, elimination vehicle is shaken with reference to the accompanying drawing
And vehicle.
Developing new-energy automobile is national strategy, the research and development in more than 10 years of process and demonstrating running, China's new energy vapour
Garage is formd already from the key components and parts development & production such as raw material supply, power battery, entire car controller, is set to vehicle
The complete industrial chains such as the auxiliary construction of meter manufacture and charging infrastructure, have conditions for sports industry.
For new-energy automobile in the scheme coupled using motor and retarder, motor can be from positive-torque to negative torque or negative twist
Square is switched over to positive-torque, since there are gaps between spline fitted, can there is mechanical shock, and vehicle is caused to there is shake
The phenomenon that.In the prior art, electricity is considered only when the motor of new-energy automobile switches between positive-torque and negative torque
Machine torsion and accelerator pedal aperture problem, do not account for clearance issues caused by mechanical couplings, make in torque zero crossing
Motor speed generates fluctuation.
For this purpose, the invention proposes a kind of new energy electric motor vehicles to be based on VCU (Vehicle Controller Unit, vehicle
Controller) with MCU (Micro Controller Unit, microcontroller) interaction eliminate vehicle shake method, can pass through
Moment of torsion control curve is adjusted, come jitter phenomenon generated when eliminating zero crossing that motor switches between positive negative torque, thus
Improve comfort, the dynamic property of vehicle.
It should be noted that VCU is the core electron control unit for realizing full-vehicle control decision, VCU passes through acquisition throttle
The signals such as pedal, gear, brake pedal judge the driving intention of driver；By monitoring vehicle-state (speed, temperature etc.)
Information sends the operating status control instruction of vehicle to dynamical system, electrokinetic cell system after VCU judgement processing.MCU is logical
The control instruction for receiving VCU is crossed, control motor output specified torque and revolving speed drive vehicle driving；It realizes power electric
The direct current energy in pond is converted to required High Level AC Voltage and driving motor ontology output mechanical energy.
Fig. 1 is the flow chart of the method for elimination vehicle shake according to an embodiment of the present invention.As shown in Figure 1, the present invention is real
Apply the method for eliminating vehicle shake of example, comprising the following steps:
S1 obtains the moment of torsion control curve of vehicle, wherein moment of torsion control curve according to the state of accelerator pedal on vehicle
In include different moments motor output torque.
According to one embodiment of present invention, according to the state of accelerator pedal on vehicle, the moment of torsion control for obtaining vehicle is bent
Line, comprising: according to the aperture of accelerator pedal, obtain the target torque of vehicle；According to the aperture change rate of accelerator pedal, obtains and turn round
The slope of square controlling curve；Initial torque according to motor at current time, moment of torsion control slope of a curve and target torque,
Generate moment of torsion control curve.
Wherein, after the target torque for obtaining vehicle, further includes: determine that target torque is in preset torque range
It is interior, wherein preset torque range can be demarcated according to actual needs, for example, can be demarcated as [N1, N2], wherein N1
< 0, N2 > 0.
Specifically, in vehicle operation, the state such as accelerator pedal of the VCU real time monitoring accelerator pedal of the vehicle
The aperture change rate of aperture and accelerator pedal obtains when the state for monitoring accelerator pedal changes and records motor and exist
The initial torque at current time；The target torque N of vehicle is obtained according to the aperture of accelerator pedal, and whether judges target torque N
In preset torque range [N1, N2], if N ∈ [N1, N2], then export target torque；According to the aperture of accelerator pedal
Change rate obtains moment of torsion control slope of a curve.Then, according to motor in the initial torque at current time, moment of torsion control curve
Slope and target torque generate moment of torsion control curve, and export to the MCU of vehicle.
S2 controls the output torque of motor output in vehicle according to moment of torsion control curve.
According to one embodiment of present invention, according to moment of torsion control curve, motor output current time in vehicle is controlled
Torque, comprising: from moment of torsion control curve, obtain the torque at current time；According to the torque at current time, preset torsion is inquired
Mapping relations between square and electric current obtain and the matched target current of the torque at current time；It controls to motor and inputs target
Electric current, so that the torque at motor output current time.
Specifically, due in moment of torsion control curve include different moments motor output torque, so MCU receiving turn round
After square controlling curve, the torque at current time can be obtained directly from moment of torsion control curve, and according to the torque at current time
By look-up table (table is the mapping relations between preset torque and electric current), obtain and the matched mesh of the torque at current time
Electric current is marked, and target current is exported by triple line to motor, so that the torque at motor output current time.
S3 obtains rotation speed change amount of the motor under output torque.
Specifically, motor acquires the revolving speed n of motor by rotary transformer (a kind of electromagnetic sensor), and is fed back
To MCU, the revolving speed n of motor is fed back to VCU again by MCU, and the revolving speed n that VCU is fed back according to MCU calculates motor at current time
Rotation speed change amount dn/dt under torque.
S4 judges that vehicle is then adjusted with the presence or absence of shake if it is judged that vehicle has shake according to rotation speed change amount
Moment of torsion control curve, until vehicle eliminates adjustment of the shake stopping to moment of torsion control curve.
According to one embodiment of present invention, according to rotation speed change amount, judge vehicle with the presence or absence of shake, comprising: will to turn
Fast variable quantity is compared with preset variable quantity threshold value, if rotation speed change amount is greater than variable quantity threshold value, it is determined that vehicle is deposited
It is shaking；If rotation speed change amount is less than or equal to variable quantity threshold value, it is determined that vehicle does not have shake, continues according to torque
Controlling curve controls motor output torque.Wherein, preset variable quantity threshold value a can be demarcated according to actual needs.
Specifically, VCU compares it with preset variable quantity threshold value a after rotation speed change amount dn/dt is calculated
Compared with, wherein as dn/dt≤a, illustrate that vehicle will not be made to generate shake, driver and passenger in torque zero crossing
It will not feel uncomfortable, continue at this time according to moment of torsion control curve controlled motor output torque；As dn/dt > a, illustrate in mistake
Vehicle can be made to generate shake when zero point, driver and passenger can feel uncomfortable, and VCU will be to moment of torsion control curve at this time
It is adjusted, until vehicle eliminates adjustment of the shake stopping to moment of torsion control curve, for example, VCU can be by adjusting moment of torsion control
Slope of a curve, to reduce the rotation speed change amount of motor, until vehicle eliminate shake stop to moment of torsion control slope of a curve into
Row adjustment.
It should be noted that VCU is bent by moment of torsion control after modulating the moment of torsion control slope of a curve of the condition of satisfaction
The slope of line, which records, to be saved, to use the moment of torsion control slope of a curve when next motor torque passes through zero point.
Further, according to one embodiment of present invention, moment of torsion control curve is adjusted, until vehicle is eliminated shake and stopped
After the adjustment of moment of torsion control curve, further includes: the output according to the moment of torsion control curve obtained after elimination shake, to motor
Torque is updated until target torque.
That is, VCU after according to shake is eliminated, is turned round according to the output of obtained moment of torsion control curve more new motor
Square, until being updated to target torque.
The scheme that the present invention is interacted using VCU with MCU as a result, by control algolithm to the torque gradient of VCU and MCU
Calculating is optimized, the moment of torsion control slope of a curve for issuing motor speed and VCU reaches a kind of closed loop, and the control algolithm is simultaneously
It is uncomplicated, the improvement of hardware is not needed, it is at low cost, the comfort of vehicle is improved, and the data can be uploaded to cloud and put down
Platform selects more reasonable moment of torsion control slope of a curve by big data analysis, improves the comfort of vehicle.
To make those skilled in the art better understand the present invention, Fig. 2 is according to an embodiment of the invention disappears
Except vehicle shake method flow chart, as shown in Fig. 2, the elimination vehicle shake method the following steps are included:
S101, VCU issue target torque N.
S102, VCU judge whether revolving speed N ∈ [N1, N2] is true.If so, executing step S103；If not, return after
It is continuous to execute step S102.
S103, VCU calculate the moment of torsion control slope of a curve K inscribed when this.
S104, VCU generate torque according to the initial torque, target torque N and moment of torsion control slope of a curve K at current time
Controlling curve.
S105, MCU are according to moment of torsion control curve controlled motor output torque.
S106, MCU obtain revolving speed n of the motor under the torque.
S107, MCU feed back motor speed n to VCU.
S108, VCU judge whether to receive MCU feedback motor speed n.If so, step S109 is executed,；If not, returning
Continue to execute step S108.
S109, VCU calculate dn/dt, and judge whether the preset variable quantity threshold value a of dn/dt > is true.If so, returning
Step S102；If not, terminating.
In conclusion the method according to an embodiment of the present invention for eliminating vehicle shake, first according to accelerator pedal on vehicle
State obtain the moment of torsion control curve of vehicle, include the output torque of different moments motor in the moment of torsion control curve, then
According to the output torque that motor in moment of torsion control curve controlled vehicle exports, finally obtains revolving speed of the motor under output torque and become
Change amount, and judge that vehicle then adjusts torque control if it is judged that vehicle has shake with the presence or absence of shake according to rotation speed change amount
Koji-making line, until vehicle eliminates adjustment of the shake stopping to moment of torsion control curve.This method can be by adjusting torque control as a result,
Koji-making line, come jitter phenomenon generated when eliminating zero crossing that motor switches between positive negative torque, to improve vehicle
Comfort, dynamic property.
Fig. 3 is the block diagram of the device of elimination vehicle shake according to an embodiment of the present invention.As shown in figure 3, this hair
The device for eliminating vehicle shake of bright embodiment, comprising: first obtains module 10, output module 20, second obtains module 30, control
Molding block 40.Wherein, the first acquisition module 10, second obtains module 30 and control module 40 and can integrate and be arranged in the car
In VCU；Output module 20 can be set in MCU in the car.
Wherein, first module 10 is obtained for the state according to accelerator pedal on vehicle, the moment of torsion control for obtaining vehicle is bent
Line, wherein include the output torque of different moments motor in moment of torsion control curve.Output module 20 is used for according to moment of torsion control song
Line controls the output torque of motor output in vehicle.Second acquisition module 30 is for obtaining revolving speed of the motor under output torque
Variable quantity.Control module 40 is used to judge that vehicle with the presence or absence of shake, is trembled if it is judged that vehicle exists according to rotation speed change amount
It is dynamic, then moment of torsion control curve is adjusted, until vehicle eliminates adjustment of the shake stopping to moment of torsion control curve.
It should be noted that undisclosed details in the device for eliminating vehicle shake of the embodiment of the present invention, please refers to this
Details disclosed in the method for eliminating vehicle shake of inventive embodiments, specific I will not elaborate.
The device according to an embodiment of the present invention for eliminating vehicle shake is stepped on by the first acquisition module according to acceleration on vehicle
The state of plate obtains the moment of torsion control curve of vehicle, includes the output torque of different moments motor in the moment of torsion control curve, so
Afterwards by output module according to moment of torsion control curve, the output torque of motor output in vehicle is controlled, is obtained finally by second
Module obtains whether rotation speed change amount of the motor under output torque judges vehicle so that control module is according to rotation speed change amount
There are shakes then to adjust moment of torsion control curve if it is judged that vehicle has shake, until vehicle is eliminated shake and stopped to torque
The adjustment of controlling curve.The device can be cut by adjusting moment of torsion control curve to eliminate motor between positive negative torque as a result,
Generated jitter phenomenon when the zero crossing changed, to improve the comfort of vehicle, dynamic property.
Based on the above embodiment, the invention also provides a kind of vehicles comprising the above-mentioned device for eliminating vehicle shake.
The vehicle of the embodiment of the present invention can be by adjusting moment of torsion control by the above-mentioned device for eliminating vehicle shake
Curve, come jitter phenomenon generated when eliminating zero crossing that motor switches between positive negative torque, to improve relaxing for vehicle
Adaptive, dynamic property.
In addition, the invention also provides a kind of electronic equipment comprising memory, processor；Wherein, processor passes through reading
The executable program code stored in access to memory runs program corresponding with executable program code, for realizing above-mentioned
Eliminate vehicle shake method.
The electronic equipment of the embodiment of the present invention, can be by adjusting moment of torsion control curve, to eliminate motor in positive negative torque
Between switch zero crossing when generated jitter phenomenon, to improve the comfort of vehicle, dynamic property.
In addition, being stored on computer readable storage medium the invention also provides a kind of computer readable storage medium
Computer program, the program realize the above-mentioned method for eliminating vehicle shake when being executed by processor.
The computer readable storage medium of the embodiment of the present invention, by executing the above-mentioned method for eliminating vehicle shake, energy
It is enough by adjusting moment of torsion control curve, it is existing come generated shake when eliminating zero crossing that motor switches between positive negative torque
As to improve the comfort of vehicle, dynamic property.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing custom logic function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.Such as, if realized with hardware in another embodiment, following skill well known in the art can be used
Any one of art or their combination are realized: have for data-signal is realized the logic gates of logic function from
Logic circuit is dissipated, the specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene can compile
Journey gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..Although having been shown and retouching above
The embodiment of the present invention is stated, it is to be understood that above-described embodiment is exemplary, and should not be understood as to limit of the invention
System, those skilled in the art can be changed above-described embodiment, modify, replace and become within the scope of the invention
Type.
Claims (10)
1. a kind of method for eliminating vehicle shake, which comprises the following steps:
According to the state of accelerator pedal on vehicle, the moment of torsion control curve of the vehicle is obtained；Wherein, the moment of torsion control curve
In include different moments motor output torque；
According to the moment of torsion control curve, the output torque that motor exports in the vehicle is controlled；
Obtain rotation speed change amount of the motor under the output torque；
According to the rotation speed change amount, the vehicle is judged with the presence or absence of shake, if it is judged that the vehicle has shake, then
The moment of torsion control curve is adjusted, until the vehicle eliminates adjustment of the shake stopping to the moment of torsion control curve.
2. the method according to claim 1, wherein being controlled in the vehicle according to the moment of torsion control curve
The torque at motor output current time, comprising:
From the moment of torsion control curve, the torque at the current time is obtained；
According to the torque at the current time, inquire the mapping relations between preset torque and electric current, obtain with it is described current
The matched target current of the torque at moment；
It controls to the motor and inputs the target current, so that the motor exports the torque at the current time.
3. judging the vehicle the method according to claim 1, wherein described according to the rotation speed change amount
With the presence or absence of shake, comprising:
The rotation speed change amount is compared with preset variable quantity threshold value, if the rotation speed change amount is greater than the variation
Measure threshold value, it is determined that the vehicle has shake；
If the rotation speed change amount is less than or equal to the variable quantity threshold value, it is determined that not there is no shake in the vehicle, after
Continue according to motor output torque described in the moment of torsion control curve controlled.
4. the method according to claim 1, wherein the state according to accelerator pedal on vehicle, obtains institute
State the moment of torsion control curve of vehicle, comprising:
According to the aperture of the accelerator pedal, the target torque of the vehicle is obtained；
According to the aperture change rate of the accelerator pedal, the moment of torsion control slope of a curve is obtained；
Initial torque according to the motor at current time, the moment of torsion control slope of a curve and the target torque,
Generate the moment of torsion control curve.
5. according to the method described in claim 4, it is characterized in that, described adjust the moment of torsion control curve, until the vehicle
Eliminate shake stop to the adjustment of the moment of torsion control curve after, further includes:
According to the moment of torsion control curve obtained after shake is eliminated, the output torque of the motor is updated until described
Target torque.
6. according to the method described in claim 4, it is characterized in that, also being wrapped after the target torque for obtaining the vehicle
It includes:
Determine that the target torque is in preset torque range.
7. a kind of device for eliminating vehicle shake characterized by comprising
First acquisition module obtains the moment of torsion control curve of the vehicle for the state according to accelerator pedal on vehicle；Its
In, it include the output torque of different moments motor in the moment of torsion control curve；
Output module, for according to the moment of torsion control curve, controlling the output torque that motor exports in the vehicle；
Second obtains module, for obtaining rotation speed change amount of the motor under the output torque；
Control module, for judging the vehicle with the presence or absence of shake, if it is judged that the vehicle according to the rotation speed change amount
Exist shake, then adjust the moment of torsion control curve, until the vehicle eliminate shake stop to the moment of torsion control curve
Adjustment.
8. a kind of vehicle characterized by comprising the device as described in any of claims 7 for eliminating vehicle shake.
9. a kind of electronic equipment, which is characterized in that including memory, processor；
Wherein, the processor is run by reading the executable program code stored in the memory can be performed with described
The corresponding program of program code, for realizing the method such as of any of claims 1-6 for eliminating vehicle shake.
10. a kind of computer readable storage medium, computer program, feature are stored on the computer readable storage medium
It is, the method such as elimination vehicle shake of any of claims 1-6 is realized when which is executed by processor.
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