Dual-motor torque distribution method, system, device and computer-readable storage medium

Abstract

The present application provides a dual-motor torque distribution method, system, device and computer-readable storage medium. The method includes: obtaining the current vehicle speed and the driver's required torque; controlling the current vehicle speed to increase to the maximum vehicle speed according to the preset first step length; each time the current vehicle speed increases, controlling the driver's required torque to increase to the sum of the maximum available torque of the front motor and the maximum available torque of the rear motor according to the preset second step length; each time the driver's required torque increases, obtaining the size comparison result between the driver's required torque and the maximum available torque of the rear motor, and determining the front motor distribution torque and the rear motor distribution torque based on the size comparison result; each time the driver's required torque increases, calculating the current motor system efficiency; when the current motor system efficiency is not greater than the maximum motor system efficiency, controlling the front motor distribution torque to increase to greater than the maximum available torque of the front motor according to the preset third step length until the current motor system efficiency is greater than the maximum motor system efficiency.

Description

Technical Field

[0001] The present application belongs to the field of vehicle control of a dual-motor driven pure electric vehicle, and in particular, relates to a dual-motor torque distribution method, system, device and computer-readable storage medium. Background Art

[0002] In order to pursue economy, dual motor torque distribution is required. Currently, the most commonly used method is to use a fixed ratio for distribution, which is determined according to the half-load / full-load axle load of the vehicle, or according to the ratio of the maximum torque of the front and rear motors. However, since this method does not distribute according to the efficiency of the motor system, the motor system efficiency is low.

[0003] Therefore, how to distribute the dual-motor torque while meeting the torque required by the driver to maximize the efficiency of the motor system is a technical problem that technical personnel in this field urgently need to solve. Summary of the invention

[0004] The embodiments of the present application provide a dual-motor torque distribution method, system, device and computer-readable storage medium, which can distribute the dual-motor torque under the premise of meeting the torque required by the driver, so as to maximize the efficiency of the motor system.

[0005] In a first aspect, an embodiment of the present application provides a dual-motor torque distribution method, comprising:

[0006] Obtain current vehicle speed and driver-required torque;

[0007] Control the current vehicle speed to increase to the maximum vehicle speed according to the preset first step length;

[0008] Each time the current vehicle speed increases, the driver's required torque is controlled to increase according to a preset second step length to the sum of the maximum available torque of the front motor and the maximum available torque of the rear motor;

[0009] Each time the driver's required torque increases, a comparison result between the driver's required torque and the maximum available torque of the rear motor is obtained, and the front motor distribution torque and the rear motor distribution torque are determined according to the comparison result;

[0010] Each time the driver's demand torque increases, the current motor system efficiency is calculated;

[0011] When the current motor system efficiency is not greater than the maximum motor system efficiency, the front motor is controlled to distribute torque that is increased according to the preset third step length to be greater than the maximum available torque of the front motor, ending this cycle and executing the next cycle until the current motor system efficiency is greater than the maximum motor system efficiency.

[0012] Further, obtaining a comparison result between the driver's required torque and the maximum available torque of the rear motor, and determining the front motor allocated torque and the rear motor allocated torque according to the comparison result, including:

[0013] If the comparison result shows that the driver's required torque is less than the maximum available torque of the rear motor, the front motor is controlled to distribute torque starting from zero and increasing according to the preset fourth step length;

[0014] The rear motor allocated torque is the difference between the driver's required torque and the front motor allocated torque.

[0015] Further, obtaining a comparison result between the driver's required torque and the maximum available torque of the rear motor, and determining the front motor allocated torque and the rear motor allocated torque according to the comparison result, including:

[0016] If the comparison result is that the driver's required torque is greater than the maximum available torque of the rear motor, the front motor allocated torque is the difference between the driver's required torque and the maximum available torque of the rear motor.

[0017] Furthermore, each time the driver's required torque increases, the current motor system efficiency is calculated, including:

[0018] Get the speed ratio and tire radius;

[0019] Calculate the motor speed based on the current vehicle speed, speed ratio and tire radius; the motor speed includes the front motor speed and the rear motor speed respectively;

[0020] According to the front motor distributed torque, the rear motor distributed torque, the front motor speed and the rear motor speed, the front motor efficiency and the rear motor efficiency are obtained by looking up the table respectively;

[0021] According to the front motor distributed torque, the rear motor distributed torque, the front motor speed and the rear motor speed, the front motor mechanical power and the rear motor mechanical power are calculated respectively;

[0022] Based on the front motor mechanical power, the rear motor mechanical power, the front motor efficiency and the rear motor efficiency, the front motor electric power and the rear motor electric power are calculated respectively;

[0023] The current motor system efficiency is calculated based on the front motor mechanical power, the rear motor mechanical power, the front motor electrical power and the rear motor electrical power.

[0024] In a second aspect, an embodiment of the present application provides a dual-motor torque distribution system, comprising:

[0025] An acquisition module, used to obtain the current vehicle speed and the torque required by the driver;

[0026] A vehicle speed control module, used to control the current vehicle speed to increase to the maximum vehicle speed according to a preset first step length;

[0027] A torque control module, configured to control the driver's required torque to increase to the sum of the maximum available torque of the front motor and the maximum available torque of the rear motor according to a preset second step length each time the current vehicle speed increases;

[0028] The motor distribution torque determination module is used to obtain the size comparison result between the driver's required torque and the maximum available torque of the rear motor every time the driver's required torque increases, and determine the front motor distribution torque and the rear motor distribution torque according to the size comparison result;

[0029] The motor system efficiency calculation module is used to calculate the current motor system efficiency every time the driver's required torque increases;

[0030] The motor distributed torque increment control module is used to control the front motor distributed torque to increase according to the preset third step length to be greater than the maximum available torque of the front motor when the current motor system efficiency is not greater than the maximum motor system efficiency, end this cycle, and execute the next cycle until the current motor system efficiency is greater than the maximum motor system efficiency.

[0031] Furthermore, the motor allocated torque determination module is used to: if the size comparison result is that the driver's required torque is less than the maximum available torque of the rear motor, control the front motor allocated torque to increase from zero according to a preset fourth step; the rear motor allocated torque is the difference between the driver's required torque and the front motor allocated torque.

[0032] Furthermore, the motor distribution torque determination module is used to: if the size comparison result is that the driver's required torque is greater than the maximum available torque of the rear motor, then the front motor distribution torque is the difference between the driver's required torque and the maximum available torque of the rear motor.

[0033] Furthermore, the motor system efficiency calculation module is used to: obtain the speed ratio and tire radius; calculate the motor speed based on the current vehicle speed, the speed ratio and the tire radius; wherein the motor speeds include the front motor speed and the rear motor speed respectively; obtain the front motor efficiency and the rear motor efficiency by looking up the table respectively according to the front motor allocated torque, the rear motor allocated torque, the front motor speed and the rear motor speed; calculate the front motor mechanical power and the rear motor mechanical power respectively according to the front motor allocated torque, the rear motor allocated torque, the front motor speed and the rear motor speed; calculate the front motor electric power and the rear motor electric power respectively based on the front motor mechanical power, the rear motor mechanical power, the front motor efficiency and the rear motor efficiency; calculate the current motor system efficiency based on the front motor mechanical power, the rear motor mechanical power, the front motor electric power and the rear motor electric power.

[0034] In a third aspect, an embodiment of the present application provides an electronic device, the electronic device comprising: a processor and a memory storing computer program instructions;

[0035] When the processor executes the computer program instructions, the dual-motor torque distribution method shown in the first aspect is implemented.

[0036] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having computer program instructions stored thereon. When the computer program instructions are executed by a processor, the dual-motor torque distribution method as shown in the first aspect is implemented.

[0037] The dual-motor torque distribution method, system, device and computer-readable storage medium of the embodiments of the present application can perform dual-motor torque distribution under the premise of meeting the torque required by the driver, so as to maximize the efficiency of the motor system.

[0038] The dual-motor torque distribution method includes: obtaining the current vehicle speed and the driver's required torque; controlling the current vehicle speed to increase according to a preset first step length to the maximum vehicle speed; each time the current vehicle speed increases, controlling the driver's required torque to increase according to a preset second step length to the sum of the maximum available torque of the front motor and the maximum available torque of the rear motor; each time the driver's required torque increases, obtaining a size comparison result between the driver's required torque and the maximum available torque of the rear motor, and determining the front motor distribution torque and the rear motor distribution torque based on the size comparison result; each time the driver's required torque increases, calculating the current motor system efficiency; when the current motor system efficiency is not greater than the maximum motor system efficiency, controlling the front motor distribution torque to increase according to a preset third step length to greater than the maximum available torque of the front motor, ending this cycle, and executing the next cycle until the current motor system efficiency is greater than the maximum motor system efficiency.

[0039] It can be seen that this method distributes the dual-motor torque according to the efficiency of the motor system, and can distribute the dual-motor torque under the premise of meeting the torque required by the driver, so as to maximize the efficiency of the motor system. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 It is a schematic diagram of a flow chart of a dual-motor torque distribution method provided by an embodiment of the present application;

[0042] Figure 2 It is a schematic diagram of a flow chart of a dual-motor torque distribution method provided by an embodiment of the present application;

[0043] Figure 3It is a schematic diagram of a flow chart of a dual-motor torque distribution method provided by an embodiment of the present application;

[0044] Figure 4 It is a schematic diagram of the nested relationship of three loops provided in one embodiment of the present application;

[0045] Figure 5 is a structural schematic diagram of a dual-motor torque distribution system provided by an embodiment of the present application;

[0046] Figure 6 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0047] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0048] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0049] In order to pursue economy, dual motor torque distribution is required. Currently, the most commonly used method is to use a fixed ratio for distribution, which is determined according to the half-load / full-load axle load of the vehicle, or according to the ratio of the maximum torque of the front and rear motors. However, since this method does not distribute according to the efficiency of the motor system, the motor system efficiency is low.

[0050] In order to solve the problems of the prior art, the embodiments of the present application provide a dual-motor torque distribution method, system, device and computer-readable storage medium. The dual-motor torque distribution method provided by the embodiments of the present application is first introduced below.

[0051] Figure 1 FIG. 1 is a flow chart of a dual-motor torque distribution method provided by an embodiment of the present application. Figure 1 As shown, the dual-motor torque distribution method includes:

[0052] S101, obtaining the current vehicle speed and the torque required by the driver;

[0053] S102, controlling the current vehicle speed to increase to the maximum vehicle speed according to a preset first step length;

[0054] S103, every time the current vehicle speed increases, controlling the driver's required torque to increase according to a preset second step length to the sum of the maximum available torque of the front motor and the maximum available torque of the rear motor;

[0055] S104, each time the driver's required torque increases, obtaining a comparison result between the driver's required torque and the maximum available torque of the rear motor, and determining the front motor allocated torque and the rear motor allocated torque according to the comparison result;

[0056] In one embodiment, obtaining a comparison result between the driver's required torque and the maximum available torque of the rear motor, and determining the front motor allocated torque and the rear motor allocated torque according to the comparison result, includes:

[0057] If the comparison result shows that the driver's required torque is less than the maximum available torque of the rear motor, the front motor is controlled to distribute torque starting from zero and increasing according to the preset fourth step length;

[0058] The rear motor allocated torque is the difference between the driver's required torque and the front motor allocated torque.

[0059] In one embodiment, obtaining a comparison result between the driver's required torque and the maximum available torque of the rear motor, and determining the front motor allocated torque and the rear motor allocated torque according to the comparison result, includes:

[0060] If the comparison result is that the driver's required torque is greater than the maximum available torque of the rear motor, the front motor allocated torque is the difference between the driver's required torque and the maximum available torque of the rear motor.

[0061] S105, calculating the current motor system efficiency each time the driver's required torque increases;

[0062] In one embodiment, each time the driver demand torque increases, the current motor system efficiency is calculated, including:

[0063] Get the speed ratio and tire radius;

[0064] Calculate the motor speed based on the current vehicle speed, speed ratio and tire radius; the motor speed includes the front motor speed and the rear motor speed respectively;

[0065] According to the front motor distributed torque, the rear motor distributed torque, the front motor speed and the rear motor speed, the front motor efficiency and the rear motor efficiency are obtained by looking up the table respectively;

[0066] According to the front motor distributed torque, the rear motor distributed torque, the front motor speed and the rear motor speed, the front motor mechanical power and the rear motor mechanical power are calculated respectively;

[0067] Based on the front motor mechanical power, the rear motor mechanical power, the front motor efficiency and the rear motor efficiency, the front motor electric power and the rear motor electric power are calculated respectively;

[0068] The current motor system efficiency is calculated based on the front motor mechanical power, the rear motor mechanical power, the front motor electrical power and the rear motor electrical power.

[0069] S106. When the current motor system efficiency is not greater than the maximum motor system efficiency, control the front motor to distribute torque and increase it according to the preset third step length to be greater than the maximum available torque of the front motor, end this cycle, and execute the next cycle until the current motor system efficiency is greater than the maximum motor system efficiency.

[0070] In summary, the method distributes the dual-motor torque according to the efficiency of the motor system, and can distribute the dual-motor torque under the premise of meeting the torque required by the driver, so as to maximize the efficiency of the motor system.

[0071] The above dual-motor torque distribution method is described below with reference to some specific embodiments.

[0072] like Figure 2 As shown, the method adopted by the present invention is to determine the torque distribution coefficient by looking up a table according to the torque required by the driver and the current vehicle speed.

[0073] Among them, the torque distribution MAP is determined by simulation, and the simulation principle is as follows:

[0074] Step 1: Increase the vehicle speed in a certain step length to the maximum speed;

[0075] Step 2: Each time the vehicle speed increases, the driver's torque requirement is increased in a certain step size to the maximum available torque (the sum of the peak torques of the front and rear motors);

[0076] Step 3: Each time the driver's required torque increases, when the driver's required torque is less than the maximum torque value of the rear motor, the front motor torque is increased from zero in a certain step length, and the rear motor torque is equal to the driver's required torque minus the front motor torque; when the driver's required torque is greater than the maximum available torque of the rear motor, the starting value of the front motor torque increase should be set to the driver's required torque minus the rear motor maximum torque value;

[0077] Step 4: Each time the driver's demand torque increases, the highest efficiency point when the demand torque is distributed between the front and rear motors is calculated and recorded in the torque distribution MAP.

[0078] Step 5: When the current motor torque increases to more than the maximum value, the current cycle ends and the next cycle begins. Figure 3 .

[0079] Figure 3 The calculation process and related formulas of the motor system efficiency are as follows:

[0080] (1) Motor speed (n):

[0081]

[0082] Wherein, v: vehicle speed; i: speed ratio; r: tire radius.

[0083] (2) Front motor mechanical power (P1):

[0084]

[0085] Wherein, n1: front motor speed; T1: front motor torque.

[0086] (3) Mechanical power of rear motor (P2):

[0087]

[0088] Wherein, n2: rear motor speed; T2: rear motor torque.

[0089] (4) Front motor power (P3):

[0090]

[0091] Where, η1: front motor efficiency.

[0092] (5) Rear motor power (P4):

[0093]

[0094] Where, η2: rear motor efficiency.

[0095] (6) System efficiency (η):

[0096]

[0097] Among them, P1: mechanical power of the front motor; P2: mechanical power of the rear motor; P3: electrical power of the front motor; P4: electrical power of the rear motor.

[0098] right Figure 3The loops 1, 2 and 3 in the example are explained as follows:

[0099] Cycle 1: The vehicle speed increases steadily with a step length of 5km / h per cycle. The initial value is 0km / h and the maximum value is the maximum speed of the vehicle. When the vehicle speed exceeds the maximum speed of the vehicle, this cycle is terminated.

[0100] Cycle 2: The vehicle's required torque increases steadily in steps of 5 Nm per cycle. The initial value is 0 Nm, and the maximum value is the maximum value of the sum of the front and rear motor torques. When the vehicle's required torque is greater than the maximum value of the sum of the two motor torques, this cycle is terminated.

[0101] Cycle 3: The front motor torque increases steadily with a step size of 5Nm per cycle. The initial value is 0Nm and the maximum value is the maximum available torque of the front motor. When the front motor torque is greater than the maximum available torque of the front motor, this cycle is cut out.

[0102] The nested relationship of the three loops: in each iteration of loop one, loop two needs to complete a whole set of loops; in each iteration of loop two, loop three needs to complete a whole set of loops. For details, please refer to Figure 4 , Figure 4 It is a schematic diagram of the nested relationship of three loops provided in an embodiment of the present application.

[0103] Figure 5 : is a schematic diagram of the structure of a dual-motor torque distribution system provided by an embodiment of the present application, the dual-motor torque distribution system comprises:

[0104] An acquisition module 501 is used to acquire the current vehicle speed and the torque required by the driver;

[0105] The vehicle speed control module 502 is used to control the current vehicle speed to increase to the maximum vehicle speed according to a preset first step;

[0106] The torque control module 503 is used to control the driver's required torque to increase to the sum of the maximum available torque of the front motor and the maximum available torque of the rear motor according to a preset second step length every time the current vehicle speed increases;

[0107] The motor distribution torque determination module 504 is used to obtain the size comparison result between the driver's demand torque and the maximum available torque of the rear motor every time the driver's demand torque increases, and determine the front motor distribution torque and the rear motor distribution torque according to the size comparison result;

[0108] The motor system efficiency calculation module 505 is used to calculate the current motor system efficiency every time the driver's required torque increases;

[0109] The motor allocated torque increment control module 506 is used to control the front motor allocated torque to be incremented according to the preset third step length to be greater than the maximum available torque of the front motor when the current motor system efficiency is not greater than the maximum motor system efficiency, thereby ending this cycle and executing the next cycle until the current motor system efficiency is greater than the maximum motor system efficiency.

[0110] In one embodiment, the motor allocated torque determination module 504 is used to: if the size comparison result is that the driver's required torque is less than the maximum available torque of the rear motor, then control the front motor allocated torque to increase from zero according to a preset fourth step; the rear motor allocated torque is the difference between the driver's required torque and the front motor allocated torque.

[0111] In one embodiment, the motor distribution torque determination module 504 is configured to: if the comparison result shows that the driver demand torque is greater than the rear motor maximum available torque, the front motor distribution torque is the difference between the driver demand torque and the rear motor maximum available torque.

[0112] In one embodiment, the motor system efficiency calculation module 505 is used to: obtain the speed ratio and the tire radius; calculate the motor speed based on the current vehicle speed, the speed ratio and the tire radius; wherein the motor speeds include the front motor speed and the rear motor speed respectively; obtain the front motor efficiency and the rear motor efficiency by looking up the table respectively according to the front motor allocated torque, the rear motor allocated torque, the front motor speed and the rear motor speed; calculate the front motor mechanical power and the rear motor mechanical power respectively according to the front motor allocated torque, the rear motor allocated torque, the front motor speed and the rear motor speed; calculate the front motor electric power and the rear motor electric power respectively based on the front motor mechanical power, the rear motor mechanical power, the front motor efficiency and the rear motor efficiency; calculate the current motor system efficiency based on the front motor mechanical power, the rear motor mechanical power, the front motor electric power and the rear motor electric power.

[0113] Figure 5 Each module in the system shown has the function of implementing Figure 1 The functions of each step in the process can achieve the corresponding technical effects, which will not be described in detail here for the sake of brevity.

[0114] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown.

[0115] The electronic device may include a processor 601 and a memory 602 storing computer program instructions.

[0116] Specifically, the processor 601 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0117] The memory 602 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 602 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, the memory 602 may include a removable or non-removable (or fixed) medium. In appropriate cases, the memory 602 may be inside or outside the electronic device. In a particular embodiment, the memory 602 may be a non-volatile solid-state memory.

[0118] In one embodiment, the memory 602 may be a read-only memory (ROM). In one embodiment, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or a flash memory, or a combination of two or more of these.

[0119] The processor 601 implements any one of the dual-motor torque distribution methods in the above embodiments by reading and executing computer program instructions stored in the memory 602 .

[0120] In one example, the electronic device may further include a communication interface 603 and a bus 610. Figure 6 As shown, the processor 601, the memory 602, and the communication interface 603 are connected via a bus 610 and communicate with each other.

[0121] The communication interface 603 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0122] Bus 610 includes hardware, software or both, and the parts of electronic equipment are coupled to each other. For example, but not limitation, bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 610 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the application considers any suitable bus or interconnection.

[0123] In addition, in combination with the dual-motor torque distribution method in the above embodiment, the embodiment of the present application can provide a computer-readable storage medium for implementation. The computer-readable storage medium stores computer program instructions; when the computer program instructions are executed by a processor, any dual-motor torque distribution method in the above embodiment is implemented.

[0124] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0125] The functional modules shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. Programs or code segments can be stored in machine-readable media, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable media" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0126] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0127] The above reference is according to the method of the embodiment of the present application, the flow chart of the device (system) and the computer program product and / or the block diagram described various aspects of the present application.It should be understood that each square box in the flow chart and / or the block diagram and the combination of each square box in the flow chart and / or the block diagram can be realized by computer program instructions.These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the realization of the function / action specified in one or more square boxes of the flow chart and / or the block diagram.Such a processor can be but is not limited to a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit.It can also be understood that each square box in the block diagram and / or the flow chart and the combination of the square boxes in the block diagram and / or the flow chart can also be realized by the dedicated hardware that performs the specified function or action, or can be realized by the combination of dedicated hardware and computer instructions.

[0128] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A dual-motor torque distribution method, It is characterized in that include: Obtaining the current vehicle speed and the driver's required torque; executing the following loop 1, loop 2, and loop 3, wherein in each cycle of the loop 1, the loop 2 completes a full cycle; in each cycle of the loop 2, the loop 3 needs to complete a full cycle; The first cycle: controlling the current vehicle speed to increase to the maximum vehicle speed according to the preset first step length, and when the current vehicle speed is greater than the maximum vehicle speed, the first cycle is cut out; In the second loop, each time the current vehicle speed increases, the driver's required torque is controlled to increase to the sum of the maximum available torque of the front motor and the maximum available torque of the rear motor according to a preset second step length; when the driver's required torque is greater than the sum of the maximum available torque of the front motor and the maximum available torque of the rear motor, the second loop is cut out; The third cycle: each time the driver's required torque increases, a comparison result between the driver's required torque and the maximum available torque of the rear motor is obtained, and the front motor allocated torque and the rear motor allocated torque are determined according to the comparison result; If the comparison result is that the driver's required torque is less than the maximum available torque of the rear motor, the front motor allocated torque is controlled to increase from zero according to a preset fourth step length, and the rear motor allocated torque is the difference between the driver's required torque and the front motor allocated torque; If the comparison result is that the driver's required torque is greater than the maximum available torque of the rear motor, the front motor allocated torque is the difference between the driver's required torque and the maximum available torque of the rear motor; Each time the driver's required torque increases, calculating the current motor system efficiency; When the current motor system efficiency is not greater than the maximum motor system efficiency, the front motor allocated torque is controlled to increase according to the preset third step size to be greater than the maximum available torque of the front motor. When the cycle reaches the point where the front motor allocated torque is greater than the maximum available torque of the front motor, the front motor allocated torque and the rear motor allocated torque corresponding to the highest efficiency point of the current motor system efficiency are recorded, and this cycle three is terminated, and the next cycle two is executed.

2. The dual-motor torque distribution method according to claim 1, It is characterized in that Each time the driver demand torque increases, the current motor system efficiency is calculated, including: Get the speed ratio and tire radius; Calculate the motor speed based on the current vehicle speed, the speed ratio and the tire radius; wherein the motor speed includes the front motor speed and the rear motor speed respectively; According to the front motor distributed torque, the rear motor distributed torque, the front motor speed and the rear motor speed, respectively looking up the table to obtain the front motor efficiency and the rear motor efficiency; According to the front motor distributed torque, the rear motor distributed torque, the front motor speed and the rear motor speed, the front motor mechanical power and the rear motor mechanical power are calculated respectively; Based on the front motor mechanical power, the rear motor mechanical power, the front motor efficiency and the rear motor efficiency, respectively calculate the front motor electric power and the rear motor electric power; The current motor system efficiency is calculated based on the front motor mechanical power, the rear motor mechanical power, the front motor electric power, and the rear motor electric power.

3. A dual-motor torque distribution system, It is characterized in that include: An acquisition module, used to obtain the current vehicle speed and the torque required by the driver; A vehicle speed control module, configured to execute a first cycle: controlling the current vehicle speed to increase to a maximum vehicle speed according to a preset first step length, and when the current vehicle speed is greater than the maximum vehicle speed, the first cycle is cut out; The torque control module is used to execute loop 2: each time the current vehicle speed increases, the driver's required torque is controlled to increase according to a preset second step length to the sum of the maximum available torque of the front motor and the maximum available torque of the rear motor; when the driver's required torque is greater than the sum of the maximum available torque of the front motor and the maximum available torque of the rear motor, the loop 2 is cut out; a motor distribution torque determination module, configured to execute loop three: obtaining a comparison result between the driver demand torque and the maximum available torque of the rear motor each time the driver demand torque increases, and determining the front motor distribution torque and the rear motor distribution torque according to the comparison result; If the comparison result is that the driver's required torque is less than the maximum available torque of the rear motor, the front motor allocated torque is controlled to increase from zero according to a preset fourth step length, and the rear motor allocated torque is the difference between the driver's required torque and the front motor allocated torque; If the comparison result is that the driver's required torque is greater than the maximum available torque of the rear motor, the front motor allocated torque is the difference between the driver's required torque and the maximum available torque of the rear motor; a motor system efficiency calculation module, configured to calculate the current motor system efficiency each time the driver demand torque increases in the third cycle; a motor distribution torque increment control module, for controlling the front motor distribution torque to be incremented according to a preset third step length to be greater than the maximum available torque of the front motor when the current motor system efficiency is not greater than the maximum motor system efficiency, and when the front motor distribution torque is greater than the maximum available torque of the front motor, recording the front motor distribution torque and the rear motor distribution torque corresponding to the maximum efficiency point of the current motor system efficiency, ending the current cycle three, and executing the next cycle two; In each cycle of the cycle one, the cycle two completes a whole cycle; in each cycle of the cycle two, the cycle three needs to complete a whole cycle.

4. The dual-motor torque distribution system according to claim 3, It is characterized in that The motor system efficiency calculation module is used to: obtain the speed ratio and the tire radius; calculate the motor speed based on the current vehicle speed, the speed ratio and the tire radius; wherein the motor speed includes the front motor speed and the rear motor speed respectively; obtain the front motor efficiency and the rear motor efficiency by looking up the table respectively according to the front motor allocated torque, the rear motor allocated torque, the front motor speed and the rear motor speed; calculate the front motor mechanical power and the rear motor mechanical power respectively according to the front motor allocated torque, the rear motor allocated torque, the front motor speed and the rear motor speed; calculate the front motor electric power and the rear motor electric power respectively based on the front motor mechanical power, the rear motor mechanical power, the front motor efficiency and the rear motor efficiency; calculate the current motor system efficiency based on the front motor mechanical power, the rear motor mechanical power, the front motor electric power and the rear motor electric power.

5. An electronic device, It is characterized in that The electronic device comprises: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the dual-motor torque distribution method as described in any one of claims 1-2 is implemented.

6. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by the processor, the dual-motor torque distribution method as described in any one of claims 1-2 is implemented.

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