The invention discloses a torque filtering method, and the method specifically comprises the following steps: S1, adjusting a first-order filtering coefficient; s2, calculating the difference (absolute value) between the sampling value of this time and the filtering result of the last time, and setting the data change direction flag bit of this time; s3, judging whether the directions of the two changes are consistent or not, if yes, executing the step S3, and if not, executing the step S10; s4, adding 1 to a first-order filter counter; step S5, judging whether the difference value is greater than a threshold value, if so, entering step S6, and if not, entering step S7; and step S6, a first-order filter counter + 2. According to the filtering algorithm, the torque change speed is obviously increased, meanwhile, torque change can be further flexibly processed during torque reversing, smooth, rapid and soft torque reversing processing is achieved, in addition, the algorithm time constant T is set, online parameter setting of the algorithm can be completed, and the filtering precision is improved. Therefore, the filtering effect of the filtering algorithm is dynamically adjusted according to the actual operation performance of the real vehicle, so that the filtering effect is optimal.
本发明公开了扭矩滤波方法,具体包括以下步骤,具体包括以下步骤:步骤S1,调整一阶滤波系数;步骤S2,计算本次采样值与上次滤波结果的差(绝对值),设定本次数据变化方向标志位;步骤S3,判断两次变化方向是否一致,若是则进行步骤S3,若否则进行步骤S10;步骤S4,一阶滤波计数器+1;步骤S5,判断差值是否大于阀值,若是则进入步骤S6,若否则进入步骤收S7;步骤S6,一阶滤波计数器+2。本发明的滤波算法明显提升了扭矩变化速度,同时在扭矩换向时可以将扭矩变化进一步柔性处理,实现了扭矩换向平滑、快速且柔和处理,另外本发明通过设定算法时间常数T,完成对算法可在线进行参数整定,以实现滤波算法在实车根据实际运行表现来动态调整算法滤波效果,以使滤波效果达到最优。
Torque filtering method
一种扭矩滤波方法
2024-10-18
Patent
Electronic Resource
Chinese
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