Drive motor control method, device, storage device and vehicle

Abstract

The present invention relates to the field of motor control technology, and provides a drive motor control method, device, storage device and vehicle, wherein the drive motor control method includes: determining the optimal total torque according to the target torque required by the vehicle; obtaining a mapping table of the torque and efficiency of the drive motor corresponding to the actual speed of any drive motor in the vehicle; under the optimal total torque, taking the maximum sum of the efficiencies corresponding to M first candidate torques and N second candidate torques as the optimization target, traversing the mapping table of the torque and efficiency of the drive motor, and selecting the optimal combination of the first candidate torque and the second candidate torque; based on the above optimal combination, determining the target torque of each front drive motor and the target torque of each rear drive motor. The present invention is used to solve the defects of the prior art that the torque of more than two drive motors cannot be determined and the scope of application is narrow, and realizes the determination of the torque of two or more drive motors, and has a wider scope of application.

Description

Technical Field

[0001] The present invention relates to the field of motor control technology, and in particular to a drive motor control method, device, storage device and vehicle. Background Art

[0002] The drive motor is an important power device of the vehicle. The drive motor outputs torque and transmits it to the wheels on the vehicle corresponding to the drive motor, thereby driving the vehicle. At present, the control methods of the vehicle's drive motor mostly revolve around a drive structure based on a single drive motor and a drive structure based on a dual drive motor. Among them, the drive motor control method based on the drive structure of the dual drive motor can determine the torque of the two drive motors according to the vehicle's operating conditions, thereby realizing the control of the two drive motors. However, for a drive structure with more than two drive motors, the existing drive motor control method based on the drive structure of the dual drive motor cannot determine the torque of more than two drive motors, and has a narrow scope of application. Therefore, there is an urgent need for a drive motor control method that can determine the torque of more than two drive motors and has a wider scope of application. Summary of the invention

[0003] The present invention provides a drive motor control method, device, storage device and vehicle, which are used to solve the defects of the prior art that the torque of more than two drive motors cannot be determined and the application scope is narrow, and realize the determination of the torque of two or more drive motors, which has a wider application scope.

[0004] The present invention provides a driving motor control method, comprising:

[0005] Determine an optimal total torque according to a target torque required by the vehicle, wherein the optimal total torque is the sum of M first candidate torques and N second candidate torques, where M and N are determined based on the total number of drive motors of the vehicle, the first candidate torques correspond to the front drive motors, and the second candidate torques correspond to the rear drive motors;

[0006] Obtaining a mapping table of the torque and efficiency of the drive motor corresponding to the actual speed of any of the drive motors in the vehicle from a pre-stored mapping table of the speed, torque and efficiency of the drive motor;

[0007] Under the total optimal torque, taking the maximum sum of the efficiencies corresponding to the M first candidate torques and the N second candidate torques as the optimization target, traversing the mapping table of the torque and efficiency of the drive motor corresponding to the actual speed of the drive motor, and selecting the optimal combination of the first candidate torque and the second candidate torque;

[0008] Based on an optimal combination of the first candidate torque and the second candidate torque, a target torque of each of the front drive motors and a target torque of each of the rear drive motors that need to be controlled in the vehicle are determined.

[0009] According to a driving motor control method provided by the present invention, the mapping table of the torque and efficiency of the driving motor corresponding to the actual speed of any driving motor in the vehicle is obtained from a pre-stored mapping table of the speed, torque and efficiency of the driving motor, comprising:

[0010] From a pre-stored mapping table of the speed, torque and efficiency of the drive motor, a mapping table of the torque and efficiency of the drive motor corresponding to a speed closest to the actual speed of the drive motor is obtained as the mapping table of the torque and efficiency of the drive motor corresponding to the actual speed of the drive motor.

[0011] According to a drive motor control method provided by the present invention, the target torque of each front drive motor and the target torque of each rear drive motor to be controlled in the vehicle are determined based on the optimal combination of the first candidate torque and the second candidate torque, including:

[0012] Based on the optimal combination of the first candidate torque and the second candidate torque, and according to the front-rear axle load ratio, respectively determine the preliminary distribution torque of each of the front drive motors and the preliminary distribution torque of each of the rear drive motors;

[0013] Based on the preliminary allocated torque of each of the front drive motors and the preliminary allocated torque of each of the rear drive motors, as well as the operating conditions of the vehicle, the number of the front drive motors and the number of the rear drive motors in the drive motors of the vehicle, the target torque of each of the front drive motors and the target torque of each of the rear drive motors that need to be controlled in the vehicle are determined.

[0014] According to a driving motor control method provided by the present invention, the M and N are determined based on the total number of driving motors of the vehicle, comprising:

[0015] When the total number of driving motors of the vehicle is 2, M and N are respectively 1;

[0016] When the total number of driving motors of the vehicle is 3, M is 2 and N is 1;

[0017] When the total number of driving motors of the vehicle is 4, M and N are respectively 1.

[0018] According to a drive motor control method provided by the present invention, the speed and torque in the mapping table of the speed, torque and efficiency of the drive motor are all positive values; the optimal total torque, the first candidate torque, the second candidate torque and the actual speed of any drive motor in the vehicle are all positive values.

[0019] According to a drive motor control method provided by the present invention, the target torque of each front drive motor and the target torque of each rear drive motor that need to be controlled in the vehicle are in the same direction as the target torque required by the vehicle.

[0020] The present invention also provides a drive motor control device, comprising:

[0021] A first determination module is used to determine an optimal total torque according to a target torque required by the vehicle, where the optimal total torque is the sum of M first candidate torques and N second candidate torques;

[0022] A first acquisition module, configured to acquire a mapping table of the torque and efficiency of the drive motor corresponding to the actual speed of any drive motor in the vehicle from a pre-stored mapping table of the speed, torque and efficiency of the drive motor;

[0023] a second acquisition module, configured to traverse a mapping table of the torque and efficiency of the drive motor corresponding to the actual speed of the drive motor under the total torque optimization, taking the maximum sum of the efficiencies corresponding to the M first candidate torques and the N second candidate torques as an optimization target, and select an optimal combination of the first candidate torque and the second candidate torque;

[0024] The second determination module is configured to determine a target torque of each of the front drive motors and a target torque of each of the rear drive motors that need to be controlled in the vehicle based on an optimal combination of the first candidate torque and the second candidate torque.

[0025] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, any of the drive motor control methods described above is implemented.

[0026] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the drive motor control method described in any one of the above is implemented.

[0027] The present invention also provides a vehicle, comprising the above-mentioned drive motor control device.

[0028] In the drive motor control method provided by the present invention, the optimal total torque can be determined according to the target torque required by the vehicle, and the optimal total torque is the sum of M first candidate torques corresponding to the front drive motor and N second candidate torques corresponding to the rear drive motor. Then, from the pre-stored mapping table of the speed, torque and efficiency of the drive motor, a mapping table of the torque and efficiency of the drive motor corresponding to the actual speed of any drive motor in the vehicle is obtained. Under the optimal total torque, the maximum sum of the efficiencies corresponding to the M first candidate torques and the N second candidate torques is taken as the optimization target, and the mapping table of the torque and efficiency of the drive motor corresponding to the actual speed of the drive motor is traversed to select the optimal combination of the first candidate torque and the second candidate torque. Based on the selected optimal combination, the target torque of each front drive motor and the target torque of each rear drive motor that need to be controlled in the vehicle can be determined; because the total number of drive motors of the vehicle is different, the corresponding motor drive structure is different, and the number of first candidate torques corresponding to the front drive motor and the number of second candidate torques corresponding to the rear drive motor can be determined according to the total number of drive motors of the vehicle, so as to accurately determine the target torque of each front drive motor and the target torque of each rear drive motor under various motor drive structures, and the application scope is wider. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0030] Figure 1 It is a flow chart of the driving motor control method provided by the present invention;

[0031] Figure 2 It is a schematic diagram of the storage form of the mapping table of the speed, torque and efficiency of the driving motor provided by the present invention;

[0032] Figure 3 It is a flowchart of a driving motor control method for a driving structure based on dual driving motors provided by the present invention;

[0033] Figure 4 It is a flowchart of a drive motor control method for a drive structure based on three drive motors provided by the present invention;

[0034] Figure 5 It is a flowchart of a drive motor control method for a drive structure based on four drive motors provided by the present invention;

[0035] Figure 6 A schematic diagram of the structure of the drive motor control device provided by the present invention;

[0036] Figure 7 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] Combine the following Figures 1 to 5 A drive motor control method of the present invention is described.

[0039] Figure 1 It is a flow chart of the driving motor control method provided by the present invention.

[0040] like Figure 1 As shown, a driving motor control method provided in this embodiment can be executed by software and / or hardware in a vehicle or a controller of the vehicle, and at least includes the following steps:

[0041] Step 101, determining an optimal total torque according to a target torque required by the vehicle, wherein the optimal total torque is the sum of M first candidate torques and N second candidate torques, where M and N are determined based on the total number of drive motors of the vehicle, the first candidate torque corresponds to the front drive motor, and the second candidate torque corresponds to the rear drive motor.

[0042] Step 102 : acquiring a mapping table of the torque and efficiency of the drive motor corresponding to the actual speed of any drive motor in the vehicle from a pre-stored mapping table of the speed, torque and efficiency of the drive motor.

[0043] Step 103, under the said optimal total torque, taking the maximum sum of the efficiencies corresponding to the M first candidate torques and the N second candidate torques as the optimization target, traverse the mapping table of the torque and efficiency of the drive motor corresponding to the actual speed of the drive motor, and select the optimal combination of the first candidate torque and the second candidate torque.

[0044] Step 104 : determining a target torque of each of the front drive motors and a target torque of each of the rear drive motors that need to be controlled in the vehicle based on an optimal combination of the first candidate torque and the second candidate torque.

[0045] Wherein, M and N are both positive integers.

[0046] For example, the vehicle may be a working machine such as a loader, a forklift or an excavator. The vehicle may be an electric vehicle.

[0047] The target torque required by the vehicle is the overall torque required for the vehicle to travel, which is the sum of the target torques of all drive motors and is determined based on real-time accelerator pedal and / or brake pedal signals, which is specifically the prior art.

[0048] The target torque required by the vehicle is the sum of the target torques of all the front drive motors and the target torques of all the rear drive motors of the vehicle. Under the target torque condition required by the whole vehicle, the target torque of each front drive motor and the target torque of the rear drive motor are determined. The first candidate torque corresponding to the front drive motor can be provided first, and then the target torque of the front drive motor is determined based on the first candidate torque. The second candidate torque corresponding to the rear drive motor can be provided first, and then the target torque of the rear drive motor is determined based on the second candidate torque. The total efficiency of the drive motor obtained by adding the efficiencies corresponding to the target torques of different front drive motors and the efficiencies corresponding to the target torques of different rear drive motors is different. In order to maximize the total efficiency of the drive motor, the maximum sum of the efficiencies corresponding to the M first candidate torques and the N second candidate torques can be used as the optimization target to select the optimal combination of the first candidate torque and the second candidate torque.

[0049] The optimal total torque is a prerequisite for selecting the optimal combination of the first candidate torque and the second candidate torque, and it is necessary to ensure that the sum of the M first candidate torques and the N second candidate torques is the optimal total torque, wherein M and N are determined based on the total number of drive motors of the vehicle.

[0050] The motor drive structure of the vehicle is different, and the total number of drive motors included is different. Generally speaking, the total number of drive motors corresponding to the drive structure based on dual drive motors is 2, the total number of drive motors corresponding to the drive structure based on three drive motors is 3, and the total number of drive motors corresponding to the drive structure based on four drive motors is 4. Due to the different total number of drive motors, different drive architectures need to determine the number of front drive motors and rear drive motors for target torque, and the number of first candidate torques corresponding to the front drive motors and the number of second candidate torques corresponding to the rear drive motors are also different. Therefore, M and N need to be determined according to the total number of drive motors of the vehicle.

[0051] Specifically, when the total number of drive motors of the vehicle is 2, the number of front drive motors and rear drive motors that need to determine the target torque is 1 respectively, and the number of first candidate torques corresponding to the front drive motors and the number of second candidate torques corresponding to the rear drive motors are also 1 respectively, so M and N are respectively 1; the optimal total torque of the sum of the corresponding 1 first candidate torque and 1 second candidate torque is consistent with the target torque required by the vehicle.

[0052] When the total number of drive motors of the vehicle is 3, the number of front drive motors for which the target torque needs to be determined is 2, and the number of rear drive motors for which the target torque needs to be determined is 1. The number of first candidate torques corresponding to the two front drive motors is 2, and the number of second candidate torques corresponding to the one rear drive motor is 1. Therefore, M is 2 and N is 1; the optimal total torque of the sum of the corresponding two first candidate torques and one second candidate torque is consistent with the target torque required by the vehicle.

[0053] When the total number of the driving motors of the vehicle is 4, including 2 front driving motors and 2 rear driving motors, the number of the front driving motors and the number of the rear driving motors for which the target torque needs to be determined are 2 respectively. However, since the two first candidate torques corresponding to the two front driving motors are the same, and the two second candidate torques corresponding to the two rear driving motors are the same, only one first candidate torque and one second candidate torque need to be selected, and M and N are 1 respectively. The optimal total torque of the sum of the corresponding one first candidate torque and one second candidate torque is half of the target torque required by the vehicle.

[0054] in, Figure 2 It is a schematic diagram of the storage form of the mapping table of the speed, torque and efficiency of the drive motor of the present invention, and the speed of each drive motor corresponds to a mapping table of the torque and efficiency of the drive motor. In implementation, the n speeds of the drive motor can be stored in an n×1 speed vector, and then the torque and efficiency of the drive motor can be stored in an m×2n numerical matrix according to the order of the speeds in the speed vector. The numerical matrix includes the torque and efficiency mapping tables of the n drive motors, and the mapping table of the torque and efficiency of the drive motor is an m×2 matrix. The mapping table of the torque and efficiency of the drive motor corresponds to the speed one by one. The n speeds of the drive motor can be traversed from the mapping table of the speed, torque and efficiency of the drive motor to find the mapping table of the torque and efficiency of the drive motor corresponding to the actual speed of the drive motor. Wherein, m and n are positive integers.

[0055] The torques in the mapping table of the torque and efficiency of the driving motor corresponding to the actual speed of the driving motor are traversed in turn, and the efficiency corresponding to the torque is found. During the traversal process, the optimal total torque remains unchanged, and different combinations of first candidates and first candidate torques are selected in turn. The sum of M first candidate torques and N second candidate torques is kept as the optimal total torque, and the sum of the efficiencies corresponding to the M first candidate torques and N second candidate torques is calculated.

[0056] Take the combination of the first candidate torque and the second candidate torque selected for the first time as a tentative combination. Starting from the combination of the first candidate torque and the second candidate torque selected for the second time, if the sum of the efficiencies corresponding to M of the first candidate torques and N of the second candidate torques in the currently selected combination of the first candidate torque and the second candidate torque is greater than the sum of the efficiencies corresponding to M of the first candidate torques and N of the second candidate torques in the tentative combination, then update the tentative combination to the currently selected combination of the first candidate torque and the second candidate torque.

[0057] If the sum of the efficiencies corresponding to M of the first candidate torques and N of the second candidate torques in the currently selected combination of the first candidate torque and the second candidate torque is not greater than the sum of the efficiencies corresponding to M of the first candidate torques and N of the second candidate torques in the tentative combination, then the tentative combination remains unchanged.

[0058] Until all the torques in the torque and efficiency mapping table of the drive motor corresponding to the actual speed of the drive motor are traversed, the finally determined tentative combination is the optimal combination of the selected first candidate torque and the second candidate torque.

[0059] Among them, for the torque and efficiency mapping table of the drive motor corresponding to the actual speed of the drive motor, m torques are traversed, and the optimal combination of the first candidate torque and the second candidate torque is selected; after steps 102 and 103, the total number of traversals is N new = m + n times. Compared with storing all drive motor speed, torque, and efficiency data in a 3×m×n data table, the maximum number of traversals theoretically required in one traversal is N old = m×n times. As m and n increase, when both m and n are greater than or equal to 3, m + n < m×n. Therefore, the computing power can be effectively reduced.

[0060] In summary, in the drive motor control method provided by the present invention, the optimal total torque can be determined according to the target torque required by the vehicle, and the optimal total torque is the sum of the M first candidate torques corresponding to the front drive motor and the N second candidate torques corresponding to the rear drive motor. Then, from the pre-stored mapping table of the speed, torque and efficiency of the drive motor, a mapping table of the torque and efficiency of the drive motor corresponding to the actual speed of any drive motor in the vehicle is obtained. Under the optimal total torque, the maximum sum of the efficiencies corresponding to the M first candidate torques and the N second candidate torques is taken as the optimization target, and the mapping table of the torque and efficiency of the drive motor corresponding to the actual speed of the drive motor is traversed to select the optimal combination of the first candidate torque and the second candidate torque. Based on the selected optimal combination, the target torque of each front drive motor and the target torque of each rear drive motor that need to be controlled in the vehicle can be determined; since the total number of drive motors of the vehicle is different, the corresponding motor drive structure is different, and the number of first candidate torques corresponding to the front drive motor and the number of second candidate torques corresponding to the rear drive motor can be determined according to the total number of drive motors of the vehicle, and then the target torque of each front drive motor and the target torque of each rear drive motor under various motor drive structures are accurately determined, and the application scope is wider.

[0061] Exemplarily, the step 102 obtains a mapping table of the torque and efficiency of the drive motor corresponding to the actual speed of any drive motor in the vehicle from a pre-stored mapping table of the speed, torque and efficiency of the drive motor. Specifically, it may include: obtaining a mapping table of the torque and efficiency of the drive motor corresponding to a speed closest to the actual speed of the drive motor from a pre-stored mapping table of the speed, torque and efficiency of the drive motor, as a mapping table of the torque and efficiency of the drive motor corresponding to the actual speed of the drive motor.

[0062] The rotation speed closest to the actual rotation speed of the drive motor refers to the rotation speed in the rotation speed vector whose absolute value of the difference between the rotation speed in the rotation speed vector and the actual rotation speed of the drive motor is the smallest.

[0063] Since the actual speed of any drive motor in the vehicle is varied, the pre-stored mapping table of the drive motor's speed, torque and efficiency cannot cover all actual speeds. Therefore, the speed closest to the actual speed of the drive motor can be found from the pre-stored mapping table of the drive motor's speed, torque and efficiency, so that the pre-stored mapping table of the drive motor's speed, torque and efficiency can be applicable to a variety of actual speed conditions.

[0064] Exemplarily, in step 104, determining the target torque of each front drive motor and the target torque of each rear drive motor to be controlled in the vehicle based on the optimal combination of the first candidate torque and the second candidate torque includes:

[0065] Based on the optimal combination of the first candidate torque and the second candidate torque, and according to the front-rear axle load ratio, respectively determine the preliminary distribution torque of each of the front drive motors and the preliminary distribution torque of each of the rear drive motors;

[0066] Based on the preliminary allocated torque of each of the front drive motors and the preliminary allocated torque of each of the rear drive motors, as well as the operating conditions of the vehicle, the number of the front drive motors and the number of the rear drive motors in the drive motors of the vehicle, the target torque of each of the front drive motors and the target torque of each of the rear drive motors that need to be controlled in the vehicle are determined.

[0067] According to the front-rear axle load ratio, the preliminary distribution torque of each front drive motor and the preliminary distribution torque of each rear drive motor are determined respectively, which specifically includes:

[0068] First, compare the first candidate torque and the second candidate torque in the optimal combination to find the larger candidate torque; then determine whether the front-to-rear axle load ratio is greater than 1. If it is greater than 1, the larger candidate torque is determined as the preliminary allocation torque of the front drive motor, and the other candidate torque is determined as the preliminary allocation torque of the rear drive motor. If it is not greater than 1, the larger candidate torque is determined as the preliminary allocation torque of the rear drive motor, and the other candidate torque is determined as the preliminary allocation torque of the front drive motor. The preliminary allocation torque is not the final target torque of the front drive motor or the rear drive motor. It is also necessary to further determine the preliminary allocation torque of each front drive motor or the target torque of each rear drive motor according to the operating conditions of the vehicle, the number of front drive motors or the number of rear drive motors.

[0069] The operating conditions of the vehicle include starting, accelerating, constant speed, decelerating, turning, uphill and downhill, parking and other driving conditions. Under different operating conditions, the torques of the front drive motor and the rear drive motor are different. Therefore, the torques of the front drive motor and the rear drive motor need to be dynamically allocated. However, the sum of the torques of all the front drive motors and the sum of the torques of all the rear drive motors are certain.

[0070] Therefore, it is necessary to calculate the sum of the torques of all the front drive motors based on the preliminary allocated torque of each of the front drive motors and the number of the front drive motors; and to calculate the sum of the torques of all the rear drive motors based on the preliminary allocated torque of each of the rear drive motors and the number of the rear drive motors.

[0071] Then, the target torque of each front drive motor is determined based on the sum of the torques of all the front drive motors and the operating conditions of the vehicle; the target torque of each rear drive motor is determined based on the sum of the torques of all the rear drive motors and the operating conditions of the vehicle; specifically, the prior art.

[0072] In the above steps 101-104, the speed and torque in the mapping table of the speed, torque and efficiency of the drive motor in the present invention are all positive values, and correspondingly, the total torque for optimal search, the first candidate torque, the second candidate torque and the actual speed of any of the drive motors in the vehicle are all positive values. This is because the speed and torque of the drive motor have positive and negative values ​​due to different motor running directions, but the workload is large to establish a mapping table containing positive and negative values ​​for different speeds and torques. The present invention can establish a mapping table of the speed, torque and efficiency of the drive motor containing only positive values ​​as a standard table. Correspondingly, the total torque for optimal search, the first candidate torque, the second candidate torque and the actual speed of any of the drive motors in the vehicle are all positive values, which is more convenient for subsequent traversal and helps save computing power.

[0073] Since torque has positive and negative values, the target torque required by the vehicle has positive and negative values. The target torque of the front drive motor and the target torque of the rear drive motor should be in the same direction as the target torque required by the vehicle, that is, if the target torque required by the vehicle is a positive value, then the target torque of the front drive motor and the target torque of the rear drive motor are also positive values; if the target torque required by the vehicle is a negative value, then the target torque of the front drive motor and the target torque of the rear drive motor are also negative values.

[0074] Among them, since the first candidate torque and the second candidate torque are both positive values, based on the optimal combination of the first candidate torque and the second candidate torque, the target torque of each front drive motor and the target torque of each rear drive motor that need to be controlled in the vehicle are also positive values. When the target torque required by the vehicle is a negative value, the target torque of the rear drive motor determined and the target torque required by the vehicle need to be taken inversely, and the final result is a negative value, which is consistent with the direction of the target torque required by the vehicle, thereby obtaining accurate target torques for the front drive motor and the rear drive motor.

[0075] The following is a detailed introduction taking different motor drive structures as an example.

[0076] 1. Drive structure based on dual drive motors

[0077] Figure 3 The present invention is a flowchart of a drive motor control method for a drive structure based on dual drive motors.

[0078] like Figure 3 As shown, the driving motor control method of this embodiment specifically includes:

[0079] The first step is to determine the optimal total torque based on the target torque required by the vehicle.

[0080] Since the total number of drive motors in the dual drive motor drive structure is 2, M and N are respectively 1. The total optimal torque is the sum of a first candidate torque T1 and a second candidate torque T2, which is consistent with the target torque required by the vehicle.

[0081] For the convenience of subsequent traversal, the total optimal torque should remain positive, so it is the absolute value of the target torque required by the vehicle, and the expression is as follows:

[0082] T opti =|T goal | (1)

[0083] Among them, T goal is the target torque required by the vehicle, T opti To find the optimal total torque, we have:

[0084] T1+T2=T opti (2)

[0085] The second step is to obtain, from the pre-stored mapping table of the speed, torque and efficiency of the drive motor, a mapping table of the torque and efficiency of the drive motor corresponding to the speed closest to the actual speed of the drive motor, as the mapping table of the torque and efficiency of the drive motor corresponding to the actual speed of the drive motor.

[0086] Step 3: Under the total torque optimization, taking the maximum sum of the efficiencies corresponding to one of the first candidate torques and one of the second candidate torques as the optimization target, traverse the mapping table of the torque and efficiency of the drive motor corresponding to the actual speed of the drive motor, and select the optimal combination of the first candidate torque and the second candidate torque. The specific process may include:

[0087] First, the total optimal torque remains unchanged during the traversal process, and different combinations of the first candidate and the first candidate torque are selected in turn, and the sum of one of the first candidate torques and one of the second candidate torques is kept as the total optimal torque. The combination of the first candidate torque and the second candidate torque selected for the first time is taken as a provisional combination. In the provisional combination, the value of the first candidate torque is represented by T tar1 , the value of the second candidate torque is expressed as T tar2 , T tar1 The corresponding efficiency is η tar1 , T tar2 The corresponding efficiency is η tar2 .

[0088] Starting from the combination of the first candidate torque and the second candidate torque selected for the second time, the i-th item in the mapping table of the torque and efficiency of the drive motor corresponding to the actual speed of the drive motor is selected as the first candidate torque T1, and the efficiency η1 corresponding to T1 is found, and then according to T1+T2=T opti , select the second candidate torque T2, find the efficiency corresponding to T2 is η2, and obtain the combination of the currently selected first candidate torque and the second candidate torque. Wherein, i is a positive integer less than m.

[0089] Determine whether η1+η2>η tar1 +η tar2 .

[0090] If so, assign T1 to T tar1 , T2 is assigned to T tar2 , the formula is as follows:

[0091]

[0092] That is, the tentative combination is updated to the currently selected combination of the first candidate torque and the second candidate torque.

[0093] If not, the tentative combination remains unchanged.

[0094] Then, by analogy, until the traversal is completed, through continuous updating and iteration, the mapping table of the torque and efficiency of the entire drive motor is found. When the sum of the efficiencies corresponding to the first candidate torque and the second candidate torque is the maximum, the corresponding provisional combination of the first candidate torque and the second candidate torque is the final optimal combination of the first candidate torque and the second candidate torque, and the two optimal torques T in the optimal combination are obtained. tar1 and T tar2 ;

[0095] Get the optimal combination to determine T tar1 and T tar2 After the values ​​are obtained, the preliminary distributed torque of each of the front drive motors and each of the rear drive motors can be determined.

[0096] Step 4: Assume that |T tar1 |≤|T tar2 |; Determine whether the front and rear axle load ratio is greater than 1. If it is greater than 1, then T f =T tar2 , T r =T tar1 ; If it is not greater than 1, then T f =T tar1 , T r =T tar2 Among them, T fTo determine the initial torque distribution of the front drive motor, T r It is the initial distribution torque for the rear drive motor.

[0097] Since the two-drive motor architecture has one front drive motor and one rear drive motor, the obtained preliminary distributed torque of the front drive motor is the target torque of the front drive motor, and the preliminary distributed torque of the rear drive motor is the target torque of the rear drive motor.

[0098] 2. Drive structure based on three drive motors

[0099] Figure 4 The present invention is a flowchart of a drive motor control method for a drive structure based on three drive motors.

[0100] like Figure 4 As shown, the drive motor control method of this embodiment needs to distribute the target torque required by the vehicle to the three drive motors. Since the total number of drive motors based on the drive structure of three drive motors is 3, M and N are 2 and 1 respectively. The total optimal torque is the sum of 2 first candidate torques T1 and 1 second candidate torque T2, and is equal to the absolute value of the target torque required by the vehicle. The 2 first candidate torques T1 are the same, corresponding to the left and right front drive motors respectively, and the 1 second candidate torque T2 corresponds to 1 rear drive motor.

[0101] During the traversal process, the optimization goal is to maximize the sum of the efficiencies corresponding to the two first candidate torques T1 and the one second candidate torque T2; after finding the optimal combination of the first candidate torque and the second candidate torque, determine the preliminary allocation torques of the two front drive motors and the preliminary allocation torque of the one rear drive motor.

[0102] Finally, according to the operating conditions of the vehicle, the sum of the preliminary allocated torques of the two front drive motors is dynamically allocated to the left and right front drive motors to obtain the target torques of the left and right front drive motors; since there is only one rear drive motor, the preliminary allocated torque of the rear drive motor is the target torque of the rear drive motor.

[0103] 3. Drive structure based on four drive motors

[0104] Figure 5 The present invention is a flowchart of a drive motor control method for a drive structure based on four drive motors.

[0105] like Figure 5As shown, the method of driving the motor of this embodiment needs to distribute the target torque required by the vehicle to the four driving motors. The total number of driving motors based on the driving structure of the four driving motors is 4. M and N are respectively 1, and the total optimal torque is the sum of 1 first candidate torque T1 and 1 second candidate torque T2, which is equal to half of the absolute value of the target torque required by the vehicle. Then, according to the driving motor control method of the electric loader with two driving motors, the preliminary distribution torque of the front driving motor and the rear driving motor is found; finally, according to the operating conditions of the vehicle, the sum of the preliminary distribution torques of the two front driving motors is dynamically distributed to the left and right front driving motors to obtain the target torques of the left and right front driving motors; the sum of the preliminary distribution torques of the two rear driving motors is dynamically distributed to the left and right rear driving motors to obtain the target torques of the left and right rear driving motors.

[0106] The drive motor control device provided by the present invention is described below. The control device based on the optimal efficiency of the drive motor described below and the drive motor control method described above can be referred to each other.

[0107] like Figure 6 As shown, the driving motor control device provided in this embodiment includes:

[0108] A first determination module 601 is used to determine an optimal total torque according to a target torque required by the vehicle, where the optimal total torque is the sum of M first candidate torques and N second candidate torques;

[0109] A first acquisition module 602 is used to acquire a mapping table of the torque and efficiency of the drive motor corresponding to the actual speed of any drive motor in the vehicle from a pre-stored mapping table of the speed, torque and efficiency of the drive motor;

[0110] A first acquisition module 603 is used for traversing a mapping table of the torque and efficiency of the drive motor corresponding to the actual speed of the drive motor under the total torque optimization, taking the maximum sum of the efficiencies corresponding to the M first candidate torques and the N second candidate torques as the optimization target, and selecting an optimal combination of the first candidate torque and the second candidate torque;

[0111] The second determination module 604 is configured to determine a target torque of each of the front drive motors and a target torque of each of the rear drive motors that need to be controlled in the vehicle based on an optimal combination of the first candidate torque and the second candidate torque.

[0112] For example, the first acquisition module 603 is specifically used for:

[0113] From a pre-stored mapping table of the speed, torque and efficiency of the drive motor, a mapping table of the torque and efficiency of the drive motor corresponding to a speed closest to the actual speed of the drive motor is obtained as the mapping table of the torque and efficiency of the drive motor corresponding to the actual speed of the drive motor.

[0114] For example, the second determining module 604 is specifically configured to:

[0115] Based on the optimal combination of the first candidate torque and the second candidate torque, and according to the front-rear axle load ratio, respectively determine the preliminary distribution torque of each of the front drive motors and the preliminary distribution torque of each of the rear drive motors;

[0116] Based on the preliminary allocated torque of each of the front drive motors and the preliminary allocated torque of each of the rear drive motors, as well as the operating conditions of the vehicle, the number of the front drive motors and the number of the rear drive motors in the drive motors of the vehicle, the target torque of each of the front drive motors and the target torque of each of the rear drive motors that need to be controlled in the vehicle are determined.

[0117] For example, the M and N are determined based on the total number of drive motors of the vehicle, including:

[0118] When the total number of driving motors of the vehicle is 2, M and N are respectively 1;

[0119] When the total number of driving motors of the vehicle is 3, M is 2 and N is 1;

[0120] When the total number of driving motors of the vehicle is 4, M and N are respectively 1.

[0121] For example, the speed and torque in the mapping table of the speed, torque and efficiency of the drive motor are all positive values; the optimal total torque, the first candidate torque, the second candidate torque and the actual speed of any drive motor in the vehicle are all positive values.

[0122] For example, the target torque of each of the front drive motors and the target torque of each of the rear drive motors that need to be controlled in the vehicle are in the same direction as the target torque required by the vehicle.

[0123] Figure 7 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 7As shown, the electronic device may include: a processor (processor) 701, a communication interface (Communications Interface) 702, a memory (memory) 730 and a communication bus 704, wherein the processor 701, the communication interface 702, and the memory 703 communicate with each other through the communication bus 704. The processor 701 may call the logic instructions in the memory 703 to execute the drive motor control method, which includes:

[0124] Determine an optimal total torque according to a target torque required by the vehicle, wherein the optimal total torque is the sum of M first candidate torques and N second candidate torques, where M and N are determined based on the total number of drive motors of the vehicle, the first candidate torques correspond to the front drive motors, and the second candidate torques correspond to the rear drive motors;

[0125] Obtaining a mapping table of the torque and efficiency of the drive motor corresponding to the actual speed of any of the drive motors in the vehicle from a pre-stored mapping table of the speed, torque and efficiency of the drive motor;

[0126] Under the total optimal torque, taking the maximum sum of the efficiencies corresponding to the M first candidate torques and the N second candidate torques as the optimization target, traversing the mapping table of the torque and efficiency of the drive motor corresponding to the actual speed of the drive motor, and selecting the optimal combination of the first candidate torque and the second candidate torque;

[0127] Based on an optimal combination of the first candidate torque and the second candidate torque, a target torque of each of the front drive motors and a target torque of each of the rear drive motors that need to be controlled in the vehicle are determined.

[0128] In addition, the logic instructions in the above-mentioned memory 703 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0129] On the other hand, the present invention further provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, when the program instructions are executed by a computer, the computer can execute the drive motor control method provided by the above methods, the method comprising:

[0130] Determine an optimal total torque according to a target torque required by the vehicle, wherein the optimal total torque is the sum of M first candidate torques and N second candidate torques, where M and N are determined based on the total number of drive motors of the vehicle, the first candidate torques correspond to the front drive motors, and the second candidate torques correspond to the rear drive motors;

[0131] Obtaining a mapping table of the torque and efficiency of the drive motor corresponding to the actual speed of any of the drive motors in the vehicle from a pre-stored mapping table of the speed, torque and efficiency of the drive motor;

[0132] Under the total optimal torque, taking the maximum sum of the efficiencies corresponding to the M first candidate torques and the N second candidate torques as the optimization target, traversing the mapping table of the torque and efficiency of the drive motor corresponding to the actual speed of the drive motor, and selecting the optimal combination of the first candidate torque and the second candidate torque;

[0133] Based on an optimal combination of the first candidate torque and the second candidate torque, a target torque of each of the front drive motors and a target torque of each of the rear drive motors that need to be controlled in the vehicle are determined.

[0134] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the drive motor control method provided by the above methods is implemented, and the method includes:

[0135] Determine an optimal total torque according to a target torque required by the vehicle, wherein the optimal total torque is the sum of M first candidate torques and N second candidate torques, where M and N are determined based on the total number of drive motors of the vehicle, the first candidate torques correspond to the front drive motors, and the second candidate torques correspond to the rear drive motors;

[0136] Obtaining a mapping table of the torque and efficiency of the drive motor corresponding to the actual speed of any of the drive motors in the vehicle from a pre-stored mapping table of the speed, torque and efficiency of the drive motor;

[0137] Under the total optimal torque, taking the maximum sum of the efficiencies corresponding to the M first candidate torques and the N second candidate torques as the optimization target, traversing the mapping table of the torque and efficiency of the drive motor corresponding to the actual speed of the drive motor, and selecting the optimal combination of the first candidate torque and the second candidate torque;

[0138] Based on an optimal combination of the first candidate torque and the second candidate torque, a target torque of each of the front drive motors and a target torque of each of the rear drive motors that need to be controlled in the vehicle are determined.

[0139] In addition, the present invention further provides a vehicle, the vehicle comprising the above-mentioned drive motor control device. Exemplarily, the vehicle may be a work machine such as a loader, a forklift or an excavator. The vehicle may be an electric vehicle. Exemplarily, the loader may be an electric loader, for example, an electric loader having a drive structure based on dual drive motors, an electric loader having a drive structure based on three drive motors, or an electric loader having a drive structure based on four drive motors.

[0140] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0141] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0142] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A driving motor control method, characterized in that: include: Determine an optimal total torque according to a target torque required by the vehicle, wherein the optimal total torque is the sum of M first candidate torques and N second candidate torques, where M and N are determined based on the total number of drive motors of the vehicle, the first candidate torques correspond to the front drive motors, and the second candidate torques correspond to the rear drive motors; Obtaining a mapping table of the torque and efficiency of the drive motor corresponding to the actual speed of any of the drive motors in the vehicle from a pre-stored mapping table of the speed, torque and efficiency of the drive motor; Under the total optimal torque, taking the maximum sum of the efficiencies corresponding to the M first candidate torques and the N second candidate torques as the optimization target, traversing the mapping table of the torque and efficiency of the drive motor corresponding to the actual speed of the drive motor, and selecting the optimal combination of the first candidate torque and the second candidate torque; Determining a target torque of each of the front drive motors and a target torque of each of the rear drive motors that need to be controlled in the vehicle based on an optimal combination of the first candidate torque and the second candidate torque; The determining, based on the optimal combination of the first candidate torque and the second candidate torque, the target torque of each front drive motor and the target torque of each rear drive motor that need to be controlled in the vehicle comprises: Based on the optimal combination of the first candidate torque and the second candidate torque, and according to the front-rear axle load ratio, respectively determine the preliminary distribution torque of each of the front drive motors and the preliminary distribution torque of each of the rear drive motors; Based on the preliminary allocated torque of each of the front drive motors and the preliminary allocated torque of each of the rear drive motors, as well as the operating conditions of the vehicle, the number of the front drive motors and the number of the rear drive motors in the drive motors of the vehicle, the target torque of each of the front drive motors and the target torque of each of the rear drive motors that need to be controlled in the vehicle are determined.

2. The driving motor control method according to claim 1, characterized in that: The step of obtaining a mapping table of the torque and efficiency of the drive motor corresponding to the actual speed of any drive motor in the vehicle from a pre-stored mapping table of the speed, torque and efficiency of the drive motor comprises: From a pre-stored mapping table of the speed, torque and efficiency of the drive motor, a mapping table of the torque and efficiency of the drive motor corresponding to a speed closest to the actual speed of the drive motor is obtained as the mapping table of the torque and efficiency of the drive motor corresponding to the actual speed of the drive motor.

3. The driving motor control method according to any one of claims 1 to 2, characterized in that: The M and N are determined based on the total number of drive motors of the vehicle, including: When the total number of driving motors of the vehicle is 2, M and N are respectively 1; When the total number of driving motors of the vehicle is 3, M is 2 and N is 1; When the total number of driving motors of the vehicle is 4, M and N are respectively 1.

4. The driving motor control method according to any one of claims 1 to 2, characterized in that: The speed and torque in the mapping table of the speed, torque and efficiency of the drive motor are all positive values; the optimal total torque, the first candidate torque, the second candidate torque and the actual speed of any drive motor in the vehicle are all positive values.

5. The driving motor control method according to any one of claims 1 to 2, characterized in that: The target torque of each of the front drive motors and the target torque of each of the rear drive motors that need to be controlled in the vehicle are in the same direction as the target torque required by the vehicle.

6. A drive motor control device, characterized in that: include: a first determination module, configured to determine an optimal total torque according to a target torque required by the vehicle, wherein the optimal total torque is a sum of M first candidate torques and N second candidate torques, where M and N are determined based on a total number of drive motors of the vehicle, the first candidate torques correspond to the front drive motors, and the second candidate torques correspond to the rear drive motors; A first acquisition module, configured to acquire a mapping table of the torque and efficiency of the drive motor corresponding to the actual speed of any drive motor in the vehicle from a pre-stored mapping table of the speed, torque and efficiency of the drive motor; a second acquisition module, configured to traverse a mapping table of the torque and efficiency of the drive motor corresponding to the actual speed of the drive motor under the total torque optimization, taking the maximum sum of the efficiencies corresponding to the M first candidate torques and the N second candidate torques as an optimization target, and select an optimal combination of the first candidate torque and the second candidate torque; a second determination module, configured to determine a target torque of each of the front drive motors and a target torque of each of the rear drive motors that need to be controlled in the vehicle based on an optimal combination of the first candidate torque and the second candidate torque; The determining, based on the optimal combination of the first candidate torque and the second candidate torque, the target torque of each front drive motor and the target torque of each rear drive motor that need to be controlled in the vehicle comprises: Based on the optimal combination of the first candidate torque and the second candidate torque, and according to the front-rear axle load ratio, respectively determine the preliminary distribution torque of each of the front drive motors and the preliminary distribution torque of each of the rear drive motors; Based on the preliminary allocated torque of each of the front drive motors and the preliminary allocated torque of each of the rear drive motors, as well as the operating conditions of the vehicle, the number of the front drive motors and the number of the rear drive motors in the drive motors of the vehicle, the target torque of each of the front drive motors and the target torque of each of the rear drive motors that need to be controlled in the vehicle are determined.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the drive motor control method according to any one of claims 1 to 5 is implemented.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the drive motor control method according to any one of claims 1 to 5 is implemented.

9. A vehicle, characterized in that: Includes the drive motor control device as described in claim 6.

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