A dual-axle driven electric drive axle vehicle and a multi-motor control system, method and vehicle

Abstract

The present invention provides a dual-axle driven electric drive bridge vehicle and a multi-motor control system, method and vehicle, belonging to the technical field of electric vehicles, wherein a first electric drive bridge is equipped with a dual electric drive bridge motor and a first electric drive bridge transmission mechanism; a second electric drive bridge is equipped with a dual electric drive bridge motor and a second electric drive bridge transmission mechanism; an electronic control unit controls the first electric drive bridge motor I, the first electric drive bridge motor II, the second electric drive bridge motor I and the second electric drive bridge motor II to work respectively, realizing a plurality of working modes of single motor work, dual motor work, three motor work and four motor work. The vehicle has a plurality of different motor working combination modes, motor combination and control system, so that the whole vehicle can better adapt to various working conditions, can optimize the motor load, and make the whole vehicle have better economy. When the motor fails, the vehicle still has a plurality of backup options, reduces the number of vehicle failure parking times, and improves the vehicle mobility and reliability.

Description

Technical Field

[0001] The present invention belongs to the technical field of electric vehicles, and in particular relates to a dual-axle driven electric drive axle vehicle and a multi-motor control system, method and vehicle. Background Art

[0002] A truck is a cargo vehicle that is mainly used to transport goods. It is also sometimes referred to as a vehicle that can tow other vehicles. It is a commercial vehicle. It can generally be divided into heavy and light types according to the weight of the vehicle.

[0003] Traditional trucks are mainly fuel-powered. However, with the rapid development of electric vehicle technology, electric trucks have also been widely used. Electric trucks have the advantages of strong power, low or zero emissions, and adaptability to a variety of models.

[0004] Electric trucks are generally driven by electric motors and equipped with traditional drive axles, or directly equipped with electric drive axle powertrains, controllers, etc. Although electric trucks already have electric drive axle powertrains, due to technological development and other reasons, electric drive axle multi-axis drive is rarely used and the mode is relatively simple. Although electric trucks use a multi-motor mode for driving, they cannot effectively allocate and control the operating status of the motors, resulting in poor economy of the entire vehicle. The power combination of the motor output is single and cannot adapt to a variety of working conditions. If the motor fails, the electric truck will not be able to drive normally, affecting the reliability and stability of the vehicle. Summary of the invention

[0005] The present invention provides a dual-axle driven electric drive bridge vehicle and a multi-motor control system, and the system can meet more complex working conditions; at the same time, based on the characteristics that the dual motors of each electric drive bridge can be driven separately, considering the vehicle load, different combinations of single motor, dual motor, triple motor and four motor working modes are proposed, so that the vehicle has more control modes and working diversity, which can better improve the working efficiency of the motor and improve the reliability and stability of the vehicle.

[0006] The system includes: a first electric drive axle, a second electric drive axle and an electronic control unit;

[0007] The first electric drive axle is equipped with a first electric drive axle motor I, a first electric drive axle motor II and a first electric drive axle transmission mechanism;

[0008] The second electric drive axle is equipped with a second electric drive axle motor I, a second electric drive axle motor II and a second electric drive axle transmission mechanism;

[0009] The electronic control unit controls the operation of the first electric drive axle motor I, the first electric drive axle motor II, the second electric drive axle motor I and the second electric drive axle motor II respectively, realizing multiple operating modes of single motor operation, dual motor operation, three motor operation and four motor operation.

[0010] It should be further explained that the electronic control unit also sorts the four motors based on the torque size, defines the working order of the first electric drive axle motor I, the first electric drive axle motor II, the second electric drive axle motor I and the second electric drive axle motor II, and switches different control modes according to the size of the required torque.

[0011] It is further necessary to explain that, in the fault mode, the electronic control unit activates the control mode corresponding to the fault according to the number of faults of the electric drive axle motor;

[0012] When a single motor is damaged, a combination of single motor, double motor and triple motor will be operated;

[0013] When two motors are damaged, the ECU controls the other two motors to operate;

[0014] When three motors are damaged, the electronic control unit controls the undamaged motors to operate.

[0015] The present invention also provides a dual-axle driven electric drive axle vehicle and a multi-motor control method, the method comprising:

[0016] During vehicle driving, the electronic control unit controls the single-motor, dual-motor, three-motor and four-motor operating modes according to the relationship between the actual vehicle demand torque Treq and the torque of each motor, optimizes and adjusts the motor load rate and motor working efficiency, so that the torque output by the motor can adapt to the needs of the current working conditions.

[0017] It should be further explained that, in the absence of faults, the electronic control unit defines the order of the motors according to the torque capabilities of the four motors.

[0018] In the absence of faults, the motor with the smallest torque output is used as the single motor driving motor, which is defined as motor one.

[0019] The motor on the same electric drive bridge as the motor 1 is defined as the motor 2;

[0020] When all four motors are in good condition and dual-motor operation is required, motor 1 and motor 2 are prioritized to operate simultaneously to achieve dual-motor drive;

[0021] The motor with smaller torque on the other electric drive bridge is used as motor three, and the last motor is used as motor four.

[0022] It should be further explained that when the vehicle is driving, when the required torque Treq is less than K1 times the torque T1 of the motor 1, the motor 1 works alone to realize single motor operation;

[0023] When the required torque Treq is greater than or equal to K1 times the torque T1 of motor one, and less than K2 times the sum of the torque T1 of motor one and the torque T2 of motor two, motor one and motor two work simultaneously, the output torque of motor one is T1, and the output torque of motor two is Treq-T1.

[0024] It should be further explained that when the required torque Treq is greater than or equal to K2 times of the torque T1 of motor 1 + the torque T2 of motor 2, and less than K3 times of the torque T1 of motor 1 + the torque T2 of motor 2 + the torque T3 of motor 3, the three motors work at the same time, the working torque of motor 1 is T1, the working torque of motor 2 is T2, and the working torque of motor 3 is Treq-T1-T2;

[0025] Otherwise, the four motors are working, at which time the working torque of motor one is T1, the working torque of motor two is T2, the working torque of motor three is T3, and the working point torque of motor four is Treq-T1-T2-T3.

[0026] When any motor fails, the motors are redefined and sorted according to their torques. The motor with the smallest torque is motor one, the motor on the same electric drive bridge as motor one is motor two, and the remaining one is motor three. If the motor on the same bridge as motor one is damaged, the motor with the largest torque of the two remaining motors is motor three, and the remaining motor is motor two, and they are controlled.

[0027] It should be further explained that when the required torque Treq is less than Ka1 times the torque Ta1 of the motor 1, the motor 1 works alone to realize single motor operation;

[0028] When the required torque Treq is greater than or equal to Ka1 times the torque Ta1 of motor 1, and less than Ka2 times the torque Ta1 of motor 1 + the torque Ta2 of motor 2, motor 1 and motor 2 work at the same time, the working torque of motor 1 is Ta1, and the working torque of motor 2 is Treq-Ta1;

[0029] Otherwise, the three motors are working, at which time the working torque of motor one is Ta1, the working torque of motor two is Ta2, and the working torque of motor three is Treq-Ta1-Ta2;

[0030] When two motors fail, they are sorted based on their torques: the smaller one is motor one and the larger one is motor two.

[0031] When the required torque Treq is less than Kb1 times the torque Tb1 of motor one, motor one works alone to realize single motor operation; otherwise, both motors work, the working torque of motor one is Tb1, and the working torque of motor two is Treq-Tb1.

[0032] The present invention also provides a vehicle, comprising the dual-axle driven electric drive bridge vehicle and the multi-motor control system as described in any one of claims 1 to 3.

[0033] It can be seen from the above technical solutions that the present invention has the following advantages:

[0034] In the dual-axle driven electric drive bridge vehicle and multi-motor control system provided by the present invention, through the dual-axle driven multi-motor control, under low load and other working conditions, some motors are controlled to work, which can improve the motor load rate. When the load is high, multiple motors work in combination, which can ensure that each motor works in the high-efficiency range most of the time, further optimize the efficiency, better improve the motor working efficiency, and improve the economy of the vehicle.

[0035] The present invention provides multiple control modes, and the vehicle has better maneuverability, can meet more working conditions, and has stronger adaptability; in the event of a fault, there can still be multiple control combinations, which better ensures that the vehicle can limp home, and at the same time makes the electric drive bridge vehicle more reliable and mature in application. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0037] Figure 1 Schematic diagram of a dual-axle driven electric drive axle vehicle and a multi-motor control system. DETAILED DESCRIPTION

[0038] like Figure 1 The diagrams provided in the dual-axle driven electric drive bridge vehicle and multi-motor control system of the present invention only illustrate the basic concept of the present invention in a schematic manner, and therefore only the modules related to the present invention are shown in the diagrams rather than the number and functions of the modules in actual implementation. In actual implementation, the function, quantity and role of each module may be changed arbitrarily, and the function and use of the modules may also be more complicated.

[0039] The dual-axle-driven electric-axle vehicle and multi-motor control system has both hardware-level and software-level technologies. The hardware level of the system includes technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technology, operation / interaction systems, and mechatronics. The software technology of the system mainly includes computer vision technology, speech processing technology, natural language processing technology, and machine learning / deep learning.

[0040] The system can configure the corresponding motors to work according to the vehicle's operating needs. If one or several motors fail, the system will control the remaining motors to work, ensuring that the vehicle can reach the destination for maintenance.

[0041] like Figure 1 The schematic diagram of the embodiment of the dual-axle driven electric drive bridge vehicle and multi-motor control system of the present invention is shown. The system can be applied to one or more vehicles, including but not limited to an electronic control unit, which can be a microprocessor, an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a digital signal processor (DSP), an embedded device, etc.

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0043] See also Figure 1 The figure is a schematic diagram of a dual-axle driven electric drive axle vehicle and a multi-motor control system in a specific embodiment, the system includes: a first electric drive axle 1, a second electric drive axle 2 and an electronic control unit 3;

[0044] The first electric drive bridge 1 is equipped with a first electric drive bridge motor I11, a first electric drive bridge motor II12 and a first electric drive bridge transmission mechanism 13; the second electric drive bridge 2 is equipped with a second electric drive bridge motor I21, a second electric drive bridge motor II22 and a second electric drive bridge transmission mechanism 23; the electronic control unit 3 controls the operation of the first electric drive bridge motor I, the first electric drive bridge motor II, the second electric drive bridge motor I and the second electric drive bridge motor II respectively, realizing multiple operating modes of single motor operation, dual motor operation, three motor operation and four motor operation.

[0045] The electronic control unit 3 also sorts the four motors based on their torque sizes, defines the working order of the first electric drive axle motor I, the first electric drive axle motor II, the second electric drive axle motor I and the second electric drive axle motor II, and switches between different control modes according to the required torque size.

[0046] In the fault mode, the electronic control unit 3 activates the control mode under the corresponding fault according to the number of electric drive axle motor faults; when a single motor is damaged, a combination of single motor, dual motor and triple motors are operated; when two motors are damaged, the electronic control unit 3 controls the operation of the other two motors; when three motors are damaged, the electronic control unit 3 controls the operation of the undamaged motor.

[0047] As an embodiment of the present invention, a dual-axle driven electric drive bridge vehicle and a multi-motor control system involve a dual-axle driven vehicle, which is suitable for 8×4 and 6×4 vehicles. The vehicle uses two independent electric drive bridges, each with two independently controlled motors, which can be controlled to work individually or the two motors can be controlled to work simultaneously; two electric drive bridges, each with two motors, a total of four motors, each of which can work independently, and through control, a single motor, dual motors, three motors and four motors can be realized. In this way, it can be ensured that each motor works in the high-efficiency range most of the time, further optimize the efficiency, and can better improve the motor working efficiency and improve the economy of the vehicle.

[0048] The following is an embodiment of a dual-axle drive electric drive axle vehicle and a multi-motor control method provided in an embodiment of the present disclosure. This method and the dual-axle drive electric drive axle vehicle and a multi-motor control system of the above-mentioned embodiments belong to the same inventive concept. For details not fully described in the embodiments of the dual-axle drive electric drive axle vehicle and the multi-motor control method, reference can be made to the embodiments of the above-mentioned dual-axle drive electric drive axle vehicle and the multi-motor control system.

[0049] The dual-axle driven electric drive axle vehicle and the multi-motor control method include:

[0050] During vehicle driving, the electronic control unit controls the operation of single motor, dual motor, triple motor and quad motor according to the relationship between the actual vehicle demand torque Treq and the torque of each motor, optimizes and adjusts the motor load rate and motor working efficiency, which can better improve the economy and adapt to the needs of different working conditions.

[0051] In the absence of faults, the electronic control unit defines the order of the motors according to the torque capacity of the four motors. The motor with the smallest torque is defined as motor one. In the absence of faults, motor one is the preferred motor for single motor drive; the motor on the same electric drive bridge as motor one is defined as motor two. When all four motors are fault-free and dual-motor operation is in progress, motor one and motor two are prioritized to work simultaneously to achieve dual-motor drive; the motor with the smallest torque on the other electric drive bridge is defined as motor three, and the last motor is defined as motor four.

[0052] When driving, when the required torque Treq is less than K1 times the torque T1 of motor 1, motor 1 works alone to realize single motor operation.

[0053] When the required torque Treq is greater than or equal to K1 times the torque T1 of motor one, and less than K2 times the sum of the torque T1 of motor one and the torque T2 of motor two, motor one and motor two work simultaneously, the output torque of motor one is T1, and the output torque of motor two is Treq-T1.

[0054] When the required torque Treq is greater than or equal to K2 times the torque T1 of motor one + the torque T2 of motor two, and less than K3 times the torque T1 of motor one + the torque T2 of motor two + the torque T3 of motor three, the three motors work simultaneously, the working torque of motor one is T1, the working torque of motor two is T2, and the working torque of motor three is Treq-T1-T2.

[0055] Otherwise, the four motors are working, at which time the working torque of motor one is T1, the working torque of motor two is T2, the working torque of motor three is T3, and the working point torque of motor four is Treq-T1-T2-T3.

[0056] When a motor fails, the motors are redefined and sorted according to their torque. The motor with the smallest torque is motor one, the motor on the same electric drive bridge as motor one is motor two, and the remaining motor is motor three. If the motor on the same bridge as motor one is damaged, the motor with the largest torque of the remaining two motors is motor three, and the remaining motor is motor two. Then control is performed according to the following principles:

[0057] When the required torque Treq is less than Ka1 times the torque Ta1 of motor 1, motor 1 works alone to achieve single motor operation.

[0058] When the required torque Treq is greater than or equal to Ka1 times the torque Ta1 of motor one, and at the same time less than Ka2 times the torque Ta1 of motor one + the torque Ta2 of motor two, motor one and motor two work at the same time, the working torque of motor one is Ta1, and the working torque of motor two is Treq-Ta1.

[0059] Otherwise, the three motors are working, and the working torque of motor one is Ta1, the working torque of motor two is Ta2, and the working torque of motor three is Treq-Ta1-Ta2.

[0060] When two motors fail, they are sorted based on their torques: the smaller one is motor one and the larger one is motor two.

[0061] When the required torque Treq is less than Kb1 times the torque Tb1 of motor one, motor one works alone to realize single motor operation; otherwise, both motors work, the working torque of motor one is Tb1, and the working torque of motor two is Treq-Tb1; when three motors fail, there is only single motor mode.

[0062] The vehicle involved in the present invention has two electric drive bridges and four motors, and the overall power is stronger and can meet more complex working conditions; at the same time, based on the characteristics that the dual motors of each electric drive bridge can be driven separately, considering the vehicle load, different combinations of single motor, dual motor, three motors and four motors are proposed, so that the vehicle has more control modes and working diversity, which can better improve the working efficiency of the motor, further improve the economy of the vehicle, and can be applied to a variety of road conditions and more complex working conditions; in the event of a fault, there is safety redundancy of multiple motors, which can ensure that the vehicle continues to drive and reduce the number of fault stops.

[0063] The units and algorithm steps of each example described in the embodiments disclosed in the dual-axle driven electric drive bridge vehicle and multi-motor control system and method provided by the present invention can be implemented by electronic hardware, computer software or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0064] In the dual-axle driven electric drive bridge vehicle and multi-motor control system and method provided by the present invention, the computer program code for performing the operation of the present disclosure can be written in one or more programming languages ​​or a combination thereof, and the above-mentioned programming languages ​​include but are not limited to object-oriented programming languages ​​- such as Java, Smalltalk, C++, and also include conventional procedural programming languages ​​- such as "C" language or similar programming languages. The program code can be executed completely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on a remote computer, or completely on a remote computer or power server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network - including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (exemplarily using an Internet service provider to connect through the Internet).

[0065] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A dual-axle driven electric drive axle vehicle and a multi-motor control method, characterized in that: Methods include: During vehicle driving, the electronic control unit controls the single-motor, dual-motor, triple-motor and quad-motor operating modes according to the relationship between the actual vehicle demand torque Treq and the torque of each motor, optimizes and adjusts the motor load rate and motor working efficiency, so that the torque output by the motor can meet the needs of the current working conditions; When the required torque Treq is less than K1 times of the torque T1 of motor 1 during driving, motor 1 works alone to realize single motor operation. When the required torque Treq is greater than or equal to K1 times the torque T1 of motor 1, and less than K2 times the sum of the torque T1 of motor 1 and the torque T2 of motor 2, motor 1 and motor 2 work at the same time, the output torque of motor 1 is T1, and the output torque of motor 2 is Treq-T1; When the required torque Treq is greater than or equal to K2 times of the torque T1 of motor 1 + the torque T2 of motor 2, and less than K3 times of the torque T1 of motor 1 + the torque T2 of motor 2 + the torque T3 of motor 3, the three motors work at the same time, the working torque of motor 1 is T1, the working torque of motor 2 is T2, and the working torque of motor 3 is Treq-T1-T2; Otherwise, the four motors are working, at which time the working torque of motor one is T1, the working torque of motor two is T2, the working torque of motor three is T3, and the working point torque of motor four is Treq-T1-T2-T3.

2. The dual-axle driven electric drive axle vehicle and multi-motor control method according to claim 1, characterized in that: The dual-axle driven electric drive axle vehicle and multi-motor control system adopted in the method include: a first electric drive axle, a second electric drive axle and an electronic control unit; The first electric drive axle is equipped with a first electric drive axle motor I, a first electric drive axle motor II and a first electric drive axle transmission mechanism; The second electric drive axle is equipped with a second electric drive axle motor I, a second electric drive axle motor II and a second electric drive axle transmission mechanism; The electronic control unit controls the operation of the first electric drive axle motor I, the first electric drive axle motor II, the second electric drive axle motor I and the second electric drive axle motor II respectively, realizing multiple operating modes of single motor operation, dual motor operation, three motor operation and four motor operation.

3. The dual-axle driven electric drive axle vehicle and multi-motor control method according to claim 2, characterized in that: The electronic control unit also sorts the four motors based on the torque size, defines the working order of the first electric drive axle motor I, the first electric drive axle motor II, the second electric drive axle motor I and the second electric drive axle motor II, and switches different control modes according to the size of the required torque.

4. The dual-axle driven electric drive axle vehicle and multi-motor control method according to claim 3, characterized in that: In the fault mode, the ECU activates the control mode corresponding to the fault according to the number of faults in the electric drive axle motor; When a single motor is damaged, a combination of single motor, double motor and triple motor will be operated; When two motors are damaged, the ECU controls the other two motors to operate; When three motors are damaged, the electronic control unit controls the undamaged motors to operate.

5. The dual-axle driven electric drive axle vehicle and multi-motor control method according to claim 1, characterized in that: In the absence of faults, the electronic control unit defines the order of the motors according to the torque capacity of the four motors; In the absence of faults, the motor with the smallest torque output is used as the single motor driving motor, which is defined as motor one. The motor on the same electric drive bridge as the motor 1 is defined as the motor 2; When all four motors are in good condition and dual-motor operation is required, motor 1 and motor 2 are prioritized to operate simultaneously to achieve dual-motor drive; The motor with smaller torque on the other electric drive bridge is used as motor three, and the last motor is used as motor four.

6. The dual-axle driven electric drive axle vehicle and multi-motor control method according to claim 1, characterized in that: When any motor fails, the motors are redefined and sorted according to their torques. The motor with the smallest torque is motor one, the motor on the same electric drive bridge as motor one is motor two, and the remaining one is motor three. If the motor on the same bridge as motor one is damaged, the motor with the largest torque of the two remaining motors is motor three, and the remaining motor is motor two, and they are controlled.

7. The dual-axle driven electric drive axle vehicle and multi-motor control method according to claim 6, characterized in that: When the required torque Treq is less than Ka1 times the torque Ta1 of motor 1, motor 1 works alone to achieve single motor operation; When the required torque Treq is greater than or equal to Ka1 times the torque Ta1 of motor 1, and less than Ka2 times the torque Ta1 of motor 1 + the torque Ta2 of motor 2, motor 1 and motor 2 work at the same time, the working torque of motor 1 is Ta1, and the working torque of motor 2 is Treq-Ta1; Otherwise, the three motors are working, at which time the working torque of motor one is Ta1, the working torque of motor two is Ta2, and the working torque of motor three is Treq-Ta1-Ta2; When two motors fail, they are sorted based on their torques: the smaller one is motor one and the larger one is motor two. When the required torque Treq is less than Kb1 times the torque Tb1 of motor one, motor one works alone to realize single motor operation; otherwise, both motors work, the working torque of motor one is Tb1, and the working torque of motor two is Treq-Tb1.

8. A vehicle, characterized in that: It includes a dual-axle driven electric drive bridge vehicle and a multi-motor control method as described in any one of claims 1 to 7.

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