CN115723707B - Vehicle snow removing method and device, vehicle and electronic equipment - Google Patents
Vehicle snow removing method and device, vehicle and electronic equipmentInfo
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- CN115723707B CN115723707B CN202211475261.XA CN202211475261A CN115723707B CN 115723707 B CN115723707 B CN 115723707B CN 202211475261 A CN202211475261 A CN 202211475261A CN 115723707 B CN115723707 B CN 115723707B
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Abstract
本申请实施例提供一种车辆的除雪方法、装置、车辆及电子设备，其中，该方法包括：获取所述车辆的传动参数；根据所述传动参数构建传递函数；对所述传递函数进行频谱响应分析，得到扭矩频率的变化数据；根据所述扭矩频率的变化数据获得除雪所需的除雪动力；根据所述除雪动力对所述车辆进行除雪。实施本申请实施例，可以实现车辆的自动除雪，提高除雪速度，无需添加额外的除雪装置，除雪时间短，除雪效率高，可以减少成本。
The embodiment of the present application provides a vehicle snow removal method, device, vehicle and electronic equipment, wherein the method includes: obtaining the transmission parameters of the vehicle; constructing a transfer function according to the transmission parameters; performing spectrum response analysis on the transfer function to obtain torque frequency change data; obtaining snow removal power required for snow removal according to the torque frequency change data; and removing snow from the vehicle according to the snow removal power. By implementing the embodiment of the present application, automatic snow removal of the vehicle can be achieved, the snow removal speed can be increased, no additional snow removal device needs to be added, the snow removal time is short, the snow removal efficiency is high, and the cost can be reduced.
Description
Technical Field
The application relates to the technical field of vehicles, in particular to a snow removing method and device for a vehicle, the vehicle and electronic equipment.
Background
The vehicle can cover thicker snow behind the outdoor parking experience snowy days in winter in north, and the snow can shelter from driver's sight, therefore must clear away it in order to satisfy safe driving's demand. The main snow removing method used at present is to open a warm air system of a vehicle to blow glass with hot air, and melt snow through heat exchange. However, this method has a relatively slow snow removal rate and requires a waiting time of several hours when snow is thick. If snow is manually removed, hands feel cold and hand washing is required after removing the snow.
In the prior art, the snow sweeping function can be realized by installing the extending block on the vehicle body and through the driving unit, the swinging rod, the swinging block and other parts. But the mechanism is complex, the chain length of the transmission is easy to fail, and the appearance of the vehicle is influenced.
Disclosure of Invention
The embodiment of the application aims to provide a snow removing method and device for a vehicle, the vehicle and electronic equipment, which can realize automatic snow removing of the vehicle, improve the snow removing speed, avoid adding an additional snow removing device, have short snow removing time and high snow removing efficiency and can reduce the cost.
In a first aspect, an embodiment of the present application provides a snow removing method for a vehicle, the method including:
Acquiring transmission parameters of the vehicle;
Constructing a transfer function according to the transmission parameters;
performing spectral response analysis on the transfer function to obtain change data of torque frequency;
Obtaining snow removing power required by snow removing according to the torque frequency change data;
And removing snow from the vehicle according to the snow removing power.
In the implementation process, the transfer function is constructed and the spectral response analysis is carried out on the transfer function, so that the change data of torque frequency can be obtained, the snow removing power required by snow removing can be accurately obtained according to the change data, the automatic snow removing of the vehicle is realized, the snow removing speed is improved, an additional snow removing device is not required to be added, the snow removing time is short, the snow removing efficiency is high, and the cost can be reduced.
Further, the step of constructing a transfer function according to the transmission parameters includes:
Constructing a transmission model according to the transmission parameters;
and constructing the transfer function according to the transmission model.
In the implementation process, the transmission model and the transfer function are constructed according to the transmission parameters, so that errors in the calculation process can be reduced, and the transmission parameters can be accurately calculated.
Further, a transmission model is constructed from the transmission parameters by:
Wherein J m is the motor moment of inertia in the transmission parameter, T m is the motor torque, θ m is the motor rotation angle in the transmission parameter, T d1 is the half-shaft driving moment in the transmission parameter, K 1 is the equivalent torsional rigidity in the transmission parameter, C 1 is the equivalent damping in the transmission parameter, and J w is the tire moment of inertia in the transmission parameter.
In the implementation process, the transmission model can be accurately constructed according to the transmission parameters, and the relation between the transmission parameters and the motor torque is completely expressed, so that the calculation time is shortened.
Further, the transfer function is constructed from the transmission model by the following formula:
Wherein G(s) is the transfer function, T m(s) is the input of the transfer function (the motor torque is taken as the input of the transfer function), θ m(s) is the output of the transfer function (the motor rotation angle is taken as the output of the transfer function), J m is the motor moment of inertia in the transmission parameter, K 1 is the equivalent torsional stiffness in the transmission parameter, and C 1 is the equivalent damping in the transmission parameter.
In the implementation process, the transfer function is constructed according to the transmission model, so that the transfer function can accurately express the relation among a plurality of transmission parameters, the accuracy is improved, and the error is reduced.
Further, the step of obtaining snow removing power required for snow removing according to the change data of the torque frequency includes:
Acquiring a snow removing gear of the vehicle;
Obtaining the corresponding torque frequency of the snow removing gear according to the change data of the torque frequency;
and obtaining the snow removing power required by the snow removing according to the torque frequency corresponding to the snow removing gear.
In the implementation process, the torque frequency of the snow removing gear is obtained according to the change data of the torque frequency, so that the obtained snow removing power is more accurate, power loss or power shortage cannot be caused, the snow removing of the vehicle is facilitated, and the snow removing efficiency is improved.
Further, the step of obtaining the snow removing power required for the snow removing according to the torque frequency corresponding to the snow removing gear comprises the following steps:
Obtaining motor torque according to the torque frequency corresponding to the snow removing gear;
And obtaining the snow removing power required by the snow removing according to the motor torque.
In the implementation process, the snow removing power required by snow removing is obtained according to the motor torque, so that the time required by snow removing can be shortened, the snow removing operation of a vehicle can be controlled more conveniently according to the motor torque, and the snow removing process is perfected.
In a second aspect, an embodiment of the present application further provides a snow removing apparatus for a vehicle, the apparatus including:
the acquisition module is used for acquiring transmission parameters of the vehicle;
The construction module is used for constructing a transfer function according to the transmission parameters;
The analysis module is used for carrying out spectral response analysis on the transfer function to obtain change data of torque frequency;
The data acquisition module is used for acquiring snow removal power required by snow removal according to the change data of the torque frequency;
and the snow removing module is used for removing snow from the vehicle according to the snow removing power.
In the implementation process, the transfer function is constructed and the spectral response analysis is carried out on the transfer function, so that the change data of torque frequency can be obtained, the snow removing power required by snow removing can be accurately obtained according to the change data, the automatic snow removing of the vehicle is realized, the snow removing speed is improved, an additional snow removing device is not required to be added, the snow removing time is short, the snow removing efficiency is high, and the cost can be reduced.
Further, the construction module is further configured to:
Constructing a transmission model according to the transmission parameters;
and constructing the transfer function according to the transmission model.
In the implementation process, the transmission model and the transfer function are constructed according to the transmission parameters, so that errors in the calculation process can be reduced, and the transmission parameters can be accurately calculated.
In a third aspect, an embodiment of the present application provides a vehicle including the snow removing device of the vehicle of the second aspect.
In a fourth aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method according to any one of the first aspects when the computer program is executed.
In a fifth aspect, an embodiment of the present application provides a computer readable storage medium, where instructions are stored, when the instructions are executed on a computer, to cause the computer to perform the method according to any one of the first aspects.
In a sixth aspect, embodiments of the present application provide a computer program product, which when run on a computer causes the computer to perform the method according to any of the first aspects.
Additional features and advantages of the disclosure will be set forth in the description which follows, or in part will be obvious from the description, or may be learned by practice of the techniques of the disclosure.
And can be implemented in accordance with the teachings of the specification, the following detailed description of the preferred embodiments of the application, taken in conjunction with the accompanying drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and should not be construed as limiting the scope values, and other related drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a snow removing method for a vehicle according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a transmission system of a vehicle according to an embodiment of the present application;
FIG. 3 is a diagram of torque frequency variation data provided by an embodiment of the present application;
fig. 4 is a schematic structural view of a snow removing device for a vehicle according to an embodiment of the present application;
Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application.
It should be noted that like reference numerals and letters refer to like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.
The following describes in further detail the embodiments of the present application with reference to the drawings and examples. The following examples are illustrative of the application and are not intended to limit the scope of the application.
Example 1
Fig. 1 is a schematic flow chart of a snow removing method for a vehicle according to an embodiment of the present application, as shown in fig. 1, the method includes:
s1, acquiring transmission parameters of a vehicle;
s2, constructing a transfer function according to the transmission parameters;
s3, carrying out spectral response analysis on the transmission function to obtain change data of torque frequency;
s4, obtaining snow removing power required by snow removing according to the change data of the torque frequency;
And S5, removing snow from the vehicle according to the snow removing power.
In the implementation process, the transfer function is constructed and the spectral response analysis is carried out on the transfer function, so that the change data of torque frequency can be obtained, the snow removing power required by snow removing can be accurately obtained according to the change data, the automatic snow removing of the vehicle is realized, the snow removing speed is improved, an additional snow removing device is not required to be added, the snow removing time is short, the snow removing efficiency is high, and the cost can be reduced.
Further, S2 includes:
constructing a transmission model according to the transmission parameters;
And constructing a transfer function according to the transmission model.
In the implementation process, the transmission model and the transfer function are constructed according to the transmission parameters, so that errors in the calculation process can be reduced, and the transmission parameters can be accurately calculated.
In the embodiment of the application, the automatic snow removing function of the vehicle is realized through the transmission system of the vehicle, and the automatic snow removing function is shown in fig. 2 and is a transmission system structure of the vehicle, and the automatic snow removing function comprises a motor, a speed reducer, a half shaft, wheels and the like.
The transmission parameters are acquired through a transmission system, and a transmission model can be constructed. Assuming that the wheel brake does not rotate, and assuming that the left and right half shafts are stressed identically, only given the motor torque, a transmission model can be constructed:
wherein J m is the motor moment of inertia in the transmission parameters, T m is the motor torque, θ m is the motor rotation angle in the transmission parameters, T d1 is the half-shaft driving moment in the transmission parameters, K 1 is the equivalent torsional rigidity in the transmission parameters, C 1 is the equivalent damping in the transmission parameters, and J w is the tire moment of inertia in the transmission parameters.
In the implementation process, the transmission model can be accurately constructed according to the transmission parameters, and the relation between the transmission parameters and the motor torque is completely expressed, so that the calculation time is shortened.
Further, the transfer function is constructed from the transmission model by the following formula:
Where G(s) is the transfer function, T m(s) is the input of the transfer function (the input of the motor torque as the transfer function), θ m(s) is the output of the transfer function (the output of the motor rotation angle as the transfer function), J m is the motor moment of inertia in the transmission parameters, K 1 is the equivalent torsional stiffness in the transmission parameters, and C 1 is the equivalent damping in the transmission parameters.
In the implementation process, the transfer function is constructed according to the transmission model, so that the transfer function can accurately express the relation among a plurality of transmission parameters, the accuracy is improved, and the error is reduced.
In S3, the spectral response analysis of the transfer function shows that when the torque frequency reaches a certain value, a resonance peak is generated, which is specifically shown as strong vehicle body shake, so that the change data of the torque frequency can be obtained as shown in fig. 3.
Further, S4 includes:
Acquiring a snow removing gear of a vehicle;
according to the change data of the torque frequency, the torque frequency corresponding to the snow removing gear is obtained;
And obtaining the snow removing power required by snow removing according to the torque frequency corresponding to the snow removing gear.
In the implementation process, the torque frequency of the snow removing gear is obtained according to the change data of the torque frequency, so that the obtained snow removing power is more accurate, power loss or power shortage cannot be caused, the snow removing of the vehicle is facilitated, and the snow removing efficiency is improved.
Further, the step of obtaining snow removing power required for snow removing according to the torque frequency corresponding to the snow removing gear comprises the steps of:
Obtaining motor torque according to torque frequency corresponding to the snow removing gear;
and obtaining the snow removing power required by snow removing according to the torque of the motor.
In the implementation process, the snow removing power required by snow removing is obtained according to the motor torque, so that the time required by snow removing can be shortened, the snow removing operation of a vehicle can be controlled more conveniently according to the motor torque, and the snow removing process is perfected.
When the vehicle needs to remove snow, the vehicle is in a stopped state, and the snow removing system is activated at the moment to enable the vehicle to be in a stopped state, so that front-back movement of the vehicle in the snow removing process is prevented.
Since the motor controller of the vehicle controls the driving motor output torque T m, where T m is composed of the bias torque T offset and the alternating torque T alternate, i.e., T m＝Toffset+Talternate. The primary function of the biasing torque T offset is to eliminate shaft backlash in the driveline and prevent cogging from occurring to damage driveline components. The main function of the alternating torque T alternate is to generate vehicle body vibration, and the alternating torque can be set as sinusoidal alternating torque, namely, T alternate =A×sin ωt, wherein A is the amplitude of the alternating torque, and ω is the frequency of the alternating torque. The amplitude A of alternating torque can be adjusted, so that the amplitude of shaking of the vehicle body can be adjusted, and when the snow on the vehicle body is thicker, the larger the snow removing gear is required, the larger the alternating torque amplitude A is set.
Therefore, according to the embodiment of the application, the torque frequency (particularly, the torque frequency of alternating torque) can be used for controlling the torque of the motor, and as shown in the analysis result of the frequency spectrum response, when the input torque frequency reaches a certain value omega 3, the transmission system and the vehicle body can generate larger vibration due to resonance. Therefore, when the torque frequency omega of the alternating torque T alternae is adjusted, and when the snow on the vehicle body is thick and a larger snow removing gear is needed, the omega=omega 3 is realized, and when the torque frequency reaches omega 3, the value of the motor torque is correspondingly increased, the snow removing power is enhanced, and the snow removing effect is the best.
The snow removing gear is set as three gears, and the torque frequency of alternating torque is respectively set from weak to strong as 1 gear omega 1, 2 gear omega 2 and 3 gear omega 3.
According to the embodiment of the application, the torque of the motor of the electric drive system is regulated, the shaking of the vehicle body is actively caused, the effect of rapidly removing snow is achieved, the existing hardware equipment of the vehicle is utilized, the additional cost is not required to be increased, and the control is simple and reliable.
Example two
In order to perform a corresponding method of the above-described embodiments to achieve the corresponding functions and technical effects, a snow removing apparatus for a vehicle, as shown in fig. 4, is provided below, the apparatus comprising:
The acquisition module 1 is used for acquiring transmission parameters of the vehicle;
A construction module 2 for constructing a transfer function according to the transmission parameters;
the analysis module 3 is used for carrying out spectral response analysis on the transfer function to obtain change data of the torque frequency;
a data obtaining module 4 for obtaining snow removing power required for snow removing according to the change data of the torque frequency;
and the snow removing module 5 is used for removing snow on the vehicle according to the snow removing power.
In the implementation process, the transfer function is constructed and the spectral response analysis is carried out on the transfer function, so that the change data of torque frequency can be obtained, the snow removing power required by snow removing can be accurately obtained according to the change data, the automatic snow removing of the vehicle is realized, the snow removing speed is improved, an additional snow removing device is not required to be added, the snow removing time is short, the snow removing efficiency is high, and the cost can be reduced.
Further, the building module 2 is further configured to:
constructing a transmission model according to the transmission parameters;
And constructing a transfer function according to the transmission model.
In the implementation process, the transmission model and the transfer function are constructed according to the transmission parameters, so that errors in the calculation process can be reduced, and the transmission parameters can be accurately calculated.
Further, the construction module 2 is also configured to construct a transmission model from transmission parameters by:
wherein J m is the motor moment of inertia in the transmission parameters, T m is the motor torque, θ m is the motor rotation angle in the transmission parameters, T d1 is the half-shaft driving moment in the transmission parameters, K 1 is the equivalent torsional rigidity in the transmission parameters, C 1 is the equivalent damping in the transmission parameters, and J w is the tire moment of inertia in the transmission parameters.
In the implementation process, the transmission model can be accurately constructed according to the transmission parameters, and the relation between the transmission parameters and the motor torque is completely expressed, so that the calculation time is shortened.
Further, the construction module 2 is further configured to construct the transfer function from the transmission model by:
Where G(s) is the transfer function, T m(s) is the input of the transfer function (the input of the motor torque as the transfer function), θ m(s) is the output of the transfer function (the output of the motor rotation angle as the transfer function), J m is the motor moment of inertia in the transmission parameters, K 1 is the equivalent torsional stiffness in the transmission parameters, and C 1 is the equivalent damping in the transmission parameters.
In the implementation process, the transfer function is constructed according to the transmission model, so that the transfer function can accurately express the relation among a plurality of transmission parameters, the accuracy is improved, and the error is reduced.
Further, the data obtaining module 4 is further configured to:
Acquiring a snow removing gear of a vehicle;
according to the change data of the torque frequency, the torque frequency corresponding to the snow removing gear is obtained;
And obtaining the snow removing power required by snow removing according to the torque frequency corresponding to the snow removing gear.
In the implementation process, the torque frequency of the snow removing gear is obtained according to the change data of the torque frequency, so that the obtained snow removing power is more accurate, power loss or power shortage cannot be caused, the snow removing of the vehicle is facilitated, and the snow removing efficiency is improved.
Further, the data obtaining module 4 is further configured to:
Obtaining motor torque according to torque frequency corresponding to the snow removing gear;
and obtaining the snow removing power required by snow removing according to the torque of the motor.
In the implementation process, the snow removing power required by snow removing is obtained according to the motor torque, so that the time required by snow removing can be shortened, the snow removing operation of a vehicle can be controlled more conveniently according to the motor torque, and the snow removing process is perfected.
The snow removing device for a vehicle described above may implement the method of the first embodiment described above. The options in the first embodiment described above also apply to this embodiment, and are not described in detail here.
The rest of the embodiments of the present application may refer to the content of the first embodiment, and in this embodiment, no further description is given.
Example III
The embodiment of the application provides a vehicle, comprising a snow removing device of the vehicle of the second embodiment.
Example IV
An embodiment of the present application provides an electronic device including a memory for storing a computer program and a processor that runs the computer program to cause the electronic device to execute the snow removing method of the vehicle of the first embodiment.
Alternatively, the electronic device may be a server.
Referring to fig. 5, fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application. The electronic device may include a processor 51, a communication interface 52, a memory 53, and at least one communication bus 54. Wherein the communication bus 54 is used to enable direct connection communication of these components. Wherein the communication interface 52 of the device in the embodiment of the present application is used for signaling or data communication with other node devices. The processor 51 may be an integrated circuit chip with signal processing capabilities.
The processor 51 may be a general-purpose processor including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc., or may be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. The general purpose processor may be a microprocessor or the processor 51 may be any conventional processor or the like.
The Memory 33 may be, but is not limited to, random access Memory (Random Access Memory, RAM), read Only Memory (ROM), programmable Read Only Memory (Programmable Read-Only Memory, PROM), erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc. The memory 53 has stored therein computer readable instructions which, when executed by the processor 51, enable the apparatus to perform the steps described above in relation to the embodiment of the method of fig. 1.
Optionally, the electronic device may further include a storage controller, an input-output unit. The memory 53, the memory controller, the processor 51, the peripheral interface, and the input/output unit are electrically connected directly or indirectly to each other, so as to realize data transmission or interaction. For example, the components may be electrically coupled to each other via one or more communication buses 54. The processor 51 is arranged to execute executable modules stored in the memory 53, such as software functional modules or computer programs comprised by the device.
The input-output unit is used for providing the user with the creation task and creating the starting selectable period or the preset execution time for the task so as to realize the interaction between the user and the server. The input/output unit may be, but is not limited to, a mouse, a keyboard, and the like.
It will be appreciated that the configuration shown in fig. 5 is merely illustrative, and that the electronic device may also include more or fewer components than shown in fig. 5, or have a different configuration than shown in fig. 5. The components shown in fig. 5 may be implemented in hardware, software, or a combination thereof.
In addition, an embodiment of the present application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the snow removing method of the vehicle of the first embodiment.
The present application also provides a computer program product which, when run on a computer, causes the computer to perform the method described in the method embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, of the flowcharts and block diagrams in the figures that illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based devices which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. The storage medium includes various media capable of storing program codes such as a U disk, a mobile hard disk, a ROM, a RAM, a magnetic disk or an optical disk.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and variations will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application. It should be noted that like reference numerals and letters refer to like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
The above description is merely illustrative of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about variations or substitutions within the scope of the present application, and the application is intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be defined by the protection scope of the claims.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
Claims (6)
1. A method of removing snow from a vehicle, the method comprising:
Acquiring transmission parameters of the vehicle;
Constructing a transfer function according to the transmission parameters;
performing spectral response analysis on the transfer function to obtain change data of torque frequency;
Obtaining snow removing power required by snow removing according to the torque frequency change data;
removing snow from the vehicle according to the snow removing power;
the step of constructing a transfer function according to the transmission parameters comprises the following steps:
Constructing a transmission model according to the transmission parameters;
Constructing the transfer function according to the transmission model;
Constructing a transmission model according to the transmission parameters by the following modes:
Wherein J m is the motor moment of inertia in the transmission parameter, T m is the motor torque, θ m is the motor rotation angle in the transmission parameter, K 1 is the equivalent torsional rigidity in the transmission parameter, C 1 is the equivalent damping in the transmission parameter, and J w is the tire moment of inertia in the transmission parameter;
The transfer function is constructed from the transmission model by the following formula:
Wherein G(s) is the transfer function, T m(s) is the input of the transfer function, θ m(s) is the output of the transfer function, the motor rotation angle is the output of the transfer function, J m is the motor moment of inertia in the transmission parameter, K 1 is the equivalent torsional stiffness in the transmission parameter, and C 1 is the equivalent damping in the transmission parameter;
when the vehicle is in a parking state, the snow removing system is activated, the torque of the motor is controlled through the torque frequency, and when the input torque frequency reaches a certain value, the transmission system and the vehicle body can generate larger vibration due to resonance.
2. The method for removing snow from a vehicle according to claim 1, characterized in that said step of obtaining snow removing power required for removing snow from the change data of the torque frequency comprises:
Acquiring a snow removing gear of the vehicle;
Obtaining the corresponding torque frequency of the snow removing gear according to the change data of the torque frequency;
and obtaining the snow removing power required by the snow removing according to the torque frequency corresponding to the snow removing gear.
3. The method according to claim 2, characterized in that the step of obtaining the snow removing power required for the snow removal according to the torque frequency corresponding to the snow removing gear comprises:
Obtaining motor torque according to the torque frequency corresponding to the snow removing gear;
And obtaining the snow removing power required by the snow removing according to the motor torque.
4. A snow removing apparatus for a vehicle, characterized in that the apparatus comprises:
the acquisition module is used for acquiring transmission parameters of the vehicle;
The construction module is used for constructing a transfer function according to the transmission parameters;
The analysis module is used for carrying out spectral response analysis on the transfer function to obtain change data of torque frequency;
The data acquisition module is used for acquiring snow removal power required by snow removal according to the change data of the torque frequency;
the snow removing module is used for removing snow from the vehicle according to the snow removing power;
The building module is also for:
Constructing a transmission model according to the transmission parameters;
Constructing the transfer function according to the transmission model;
Constructing a transmission model according to the transmission parameters by the following modes:
Wherein J m is the motor moment of inertia in the transmission parameter, T m is the motor torque, θ m is the motor rotation angle in the transmission parameter, K 1 is the equivalent torsional rigidity in the transmission parameter, C 1 is the equivalent damping in the transmission parameter, and J w is the tire moment of inertia in the transmission parameter;
The transfer function is constructed from the transmission model by the following formula:
Wherein G(s) is the transfer function, T m(s) is the input of the transfer function, θ m(s) is the output of the transfer function, the motor rotation angle is the output of the transfer function, J m is the motor moment of inertia in the transmission parameter, K 1 is the equivalent torsional stiffness in the transmission parameter, and C 1 is the equivalent damping in the transmission parameter;
when the vehicle is in a parking state, the snow removing system is activated, the torque of the motor is controlled through the torque frequency, and when the input torque frequency reaches a certain value, the transmission system and the vehicle body can generate larger vibration due to resonance.
5. A vehicle characterized in that it comprises a snow removing device of the vehicle according to claim 4.
6. An electronic device comprising a memory for storing a computer program and a processor that runs the computer program to cause the electronic device to perform the method of removing snow from a vehicle according to any one of claims 1 to 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211475261.XA CN115723707B (en) | 2022-11-23 | 2022-11-23 | Vehicle snow removing method and device, vehicle and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CH715516A2 (en) * | 2018-11-06 | 2020-05-15 | Viktor Meili Ag | Drive device for a motor vehicle, in particular a light truck. |
| CN112440971A (en) * | 2019-09-05 | 2021-03-05 | 长城汽车股份有限公司 | Torque control method and device and vehicle |
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| FR2698754B1 (en) * | 1992-12-02 | 1994-12-30 | Valeo Equip Electr Moteur | Device for defrosting and / or demisting, in particular of an electric windshield of a motor vehicle. |
| JPH09292023A (en) * | 1996-04-25 | 1997-11-11 | Suzuki Motor Corp | Snow removal device for vehicle |
| DE102010039701A1 (en) * | 2010-08-24 | 2012-03-01 | Robert Bosch Gmbh | Method and system for controlling an electric machine in a drive train of a motor vehicle |
| US8434360B2 (en) * | 2011-07-22 | 2013-05-07 | General Electric Company | System and method for detecting ice on a wind turbine rotor blade |
| JP2015105043A (en) * | 2013-11-29 | 2015-06-08 | トヨタ自動車株式会社 | Vehicle vibration control device for vehicle |
| US10065602B2 (en) * | 2016-07-19 | 2018-09-04 | Ford Global Technologies, Llc | Vehicle with automatic snow removal |
| CN108556683B (en) * | 2018-04-20 | 2021-03-02 | 江铃汽车股份有限公司 | New energy vehicle ride comfort optimization method based on big data |
| CN112560216A (en) * | 2019-09-24 | 2021-03-26 | 上海汽车集团股份有限公司 | Parameter configuration method and device and vehicle |
| CN114172421B (en) * | 2021-12-13 | 2025-03-18 | 中航(成都)无人机系统股份有限公司 | UAV deicing power supply control method, device, system and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CH715516A2 (en) * | 2018-11-06 | 2020-05-15 | Viktor Meili Ag | Drive device for a motor vehicle, in particular a light truck. |
| CN112440971A (en) * | 2019-09-05 | 2021-03-05 | 长城汽车股份有限公司 | Torque control method and device and vehicle |
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