Method, system and vehicle for determining motor zero position deviation of dual-motor drive system

Abstract

The present invention relates to the field of vehicle technology, and provides a method, system, and vehicle for determining the zero-position deviation of a motor of a dual-motor drive system. The method comprises: obtaining an initial rotational variable value when the rotor of a first motor runs to an initial position at no-load as an initial zero-position deviation; controlling the first motor to drive the second motor to run at no-load at a first preset speed, and determining the zero-position deviation of the second motor based on the first back electromotive force of the second motor at the first preset speed; controlling the second motor to drive the first motor to run at no-load at a second preset speed, and determining the zero-position deviation of the first motor based on the second back electromotive force of the first motor at the second preset speed. The present invention is used to solve the defects of the prior art in that when performing zero-position deviation detection of a motor of a drive system, additional processes need to be added, resulting in cumbersome operations and affecting production efficiency, and realizes high-precision identification of the zero-position deviation of the motor of a dual-motor drive system without additional equipment, processes, and testing conditions.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a method, system, and vehicle for determining a motor zero position deviation of a dual-motor drive system. Background Art

[0002] In the new energy vehicle industry, the position accuracy of permanent magnet synchronous motors is related to the performance and safety of the electric drive system. Therefore, how to accurately identify and detect the zero-position deviation of permanent magnet synchronous motors is of great significance and is also a direction that the industry has been exploring.

[0003] At present, in order to ensure the accuracy of the position of the permanent magnet synchronous motor, the new energy vehicle industry mainly uses two methods to achieve it:

[0004] One method is to use a motor test bench to perform zero-position deviation detection. This method requires a motor test bench and uses relevant test equipment in the laboratory to perform motor zero-position deviation detection. The other method is to use the wheel hub to drive the car tire to run at the end of the vehicle (End of Line) to provide the motor no-load speed for zero-position deviation detection.

[0005] However, both of the above-mentioned zero-position deviation detection methods require additional steps, which are relatively complicated and reduce production efficiency. Summary of the Invention

[0006] The present invention provides a method, system and vehicle for determining the zero-position deviation of a motor of a dual-motor drive system, which are used to solve or improve the defects in the prior art of performing motor zero-position deviation detection of a drive system, which require additional steps, resulting in cumbersome operations and affecting production efficiency. The method achieves high-precision identification of the zero-position deviation of the motor of a dual-motor drive system without additional equipment, steps or testing conditions.

[0007] The present invention provides a method for determining a motor zero position deviation of a dual-motor drive system, comprising:

[0008] Obtaining an initial resolution value of a first motor of the dual-motor drive system when it is no-load and using the value as an initial zero-position deviation of the first motor, wherein the initial resolution value is a resolution value of the first motor when the rotor of the first motor runs to an initial position;

[0009] Control the first motor to drive the second motor of the dual-motor drive system to run at a first preset speed without load;

[0010] determining a zero position deviation of the second motor based on a first back electromotive force of the second motor at the first preset speed;

[0011] Control the second motor to drive the first motor to run at a second preset speed without load;

[0012] A zero position deviation of the first motor is determined based on a second back electromotive force of the first motor at the second preset speed.

[0013] According to the method for determining the motor zero position deviation of the dual-motor drive system of the present invention, before obtaining the initial resolver value of the first motor of the dual-motor drive system when it is no-load, the method further includes:

[0014] determining whether the first motor is mechanically disengaged from an output shaft of a gearbox of the dual-motor drive system;

[0015] After determining that the first motor is mechanically disconnected from the output shaft of the gearbox, the step of obtaining an initial resolution value of the first motor when the motor is no-load is performed.

[0016] According to the method for determining the motor zero position deviation of the dual-motor drive system of the present invention, before controlling the first motor to drive the second motor of the dual-motor drive system to run at no load at a first preset speed, the method further includes:

[0017] determining whether the first motor and the second motor are mechanically coupled;

[0018] After determining that the first motor and the second motor are mechanically coupled, controlling the first motor to drive the second motor to run at a first preset speed without load is performed.

[0019] According to the method for determining the motor zero position deviation of the dual-motor drive system of the present invention, before controlling the second motor to drive the first motor to run at no load at the second preset speed, the method further includes:

[0020] determining whether the first motor and the second motor are mechanically coupled;

[0021] After determining that the first motor and the second motor are mechanically coupled, controlling the second motor to drive the first motor to run at a second preset speed without load is performed.

[0022] The present invention also provides a motor zero position deviation determination system for a dual-motor drive system, comprising: an MCU of the dual-motor drive system;

[0023] The MCU is used to obtain an initial rotational variable value of the first motor of the dual-motor drive system when it is no-load, and use it as an initial zero-position deviation of the first motor, where the initial rotational variable value is the rotational variable value of the first motor when the rotor of the first motor runs to an initial position; control the first motor to drive the second motor of the dual-motor drive system to run at a first preset speed without load; determine the zero-position deviation of the second motor based on the first back electromotive force of the second motor at the first preset speed; control the second motor to drive the first motor to run at a second preset speed without load; and determine the zero-position deviation of the first motor based on the second back electromotive force of the first motor at the second preset speed.

[0024] The motor zero position deviation determination system of the dual-motor drive system according to the present invention further includes: a TCU of the dual-motor drive system;

[0025] The TCU is used to mechanically disconnect the first motor from the output shaft of the gearbox of the dual-motor drive system by controlling the shift device or clutch mechanism of the dual-motor drive system.

[0026] According to the motor zero position deviation determination system of the dual-motor drive system of the present invention, the TCU is further used to decouple or mechanically couple the first motor and the second motor from each other by controlling the shifting device or the clutch mechanism.

[0027] According to the motor zero position deviation determination system of the dual-motor drive system of the present invention, when the dual-motor drive system is applied to a hybrid vehicle, the TCU is further used to disconnect the first motor and the second motor from the input end of the engine by controlling the clutch between the engine of the hybrid vehicle and the dual-motor drive system.

[0028] The present invention also provides a vehicle, which adopts the motor zero position deviation determination method of the dual-motor drive system as described in any of the above-mentioned methods to determine the motor zero position deviation of the dual-motor drive system, or includes the motor zero position deviation determination system of the dual-motor drive system as described in any of the above-mentioned methods.

[0029] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and runnable on the processor. When the processor executes the computer program, it implements the motor zero position deviation determination method of the dual-motor drive system as described in any one of the above.

[0030] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the motor zero position deviation determination method of the dual-motor drive system as described in any one of the above.

[0031] The present invention provides a method, system, and vehicle for determining a motor zero-position deviation of a dual-motor drive system. The method achieves a rough determination of the zero-position deviation of the first motor by obtaining an initial rotational variable value of the first motor of the dual-motor drive system at no load, that is, the rotational variable value of the first motor when the rotor of the first motor runs to an initial position, and using the initial rotational variable value as the initial zero-position deviation of the first motor. The method then controls the first motor to drive the second motor of the dual-motor drive system to run at a first preset speed without load, thereby obtaining a first back electromotive force of the second motor at the first preset speed. Based on the first back electromotive force, the zero-position deviation of the second motor is determined. After the zero-position deviation of the second motor is determined, the method controls the second motor to drive the first motor to run at a second preset speed without load, thereby obtaining a second back electromotive force of the first motor at the second preset speed. Based on the second back electromotive force, the zero-position deviation of the first motor is determined. This enables high-precision identification of the zero-position deviation of the two motors in the dual-motor drive system to be performed iteratively, thereby achieving high-precision identification of the motor zero-position deviation of the dual-motor drive system without additional equipment, processes, or testing conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any creative work.

[0033] Figure 1 1 is a flow chart of a method for determining a motor zero position deviation of a dual-motor drive system provided by an embodiment of the present invention;

[0034] Figure 2 This is a schematic diagram of the structure of the dual-motor drive system currently used in pure electric vehicles;

[0035] Figure 3 This is a schematic diagram of the structure of the dual-motor drive system used in current hybrid vehicles;

[0036] Figure 4 This is a schematic diagram of the structure of the MCU of the motor inverter of the dual-motor drive system currently used in pure electric or hybrid vehicles;

[0037] Figure 5 This is a flow chart of determining the zero position deviation of the dual motors of a dual motor drive system of a pure electric or hybrid vehicle using the motor zero position deviation determination method of the dual motor drive system provided by an embodiment of the present invention;

[0038] Figure 61 is a schematic structural diagram of a motor zero position deviation determination system for a dual-motor drive system provided by an embodiment of the present invention;

[0039] Figure 7 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0040] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0041] The following combination Figures 1 to 5 A method for determining a motor zero position deviation of a dual-motor drive system of the present invention is described, which can be executed by a motor controller unit (MCU) of the dual-motor drive system.

[0042] It should be noted that the motor zero-position deviation determination method of the dual-motor drive system provided in the embodiment of the present invention is applied to the dual-motor drive system. The dual-motor drive system includes two motors, which are respectively defined as the first motor and the second motor in the method provided in the embodiment of the present invention. It can be understood that the "first" and "second" in the first motor and the second motor do not specifically refer to one of the two motors. The first motor can be any one of the two motors in the dual-motor drive system, and the second motor is the other motor of the two motors.

[0043] The embodiment of the present invention provides a method for determining the motor zero position deviation of a dual-motor drive system, such as Figure 1 As shown, the following steps are included:

[0044] 101. Obtain an initial resolution value of a first motor of a dual-motor drive system when the motor is unloaded, and use the value as an initial zero position deviation of the first motor. The initial resolution value is a resolution value of the first motor when the rotor of the first motor runs to an initial position.

[0045] It is understandable that in the new energy vehicle industry, both motors in the dual-motor drive system are permanent magnet synchronous motors. Permanent magnet synchronous motors require an initial position to work. However, due to machining deviations and other reasons, the motor will produce zero-position deviation, and the motor position zero-position deviation angle, that is, the zero-position deviation, is crucial to the accuracy of the motor output torque.

[0046] Specifically, by obtaining the resolution value of the first motor when the rotor of the first motor runs to the initial position, the resolution value can be used as the initial zero position deviation of the first motor.

[0047] It should be noted that for the dual-motor drive system used in new energy vehicles, although the first motor does not drive the wheels to rotate when it is idling, it still drives the gears in the gearbox to rotate, that is, there is a certain load. Therefore, using the rotation value of the first motor when the rotor runs to the initial position as the initial zero-position deviation can only achieve a rough determination of the motor zero-position deviation.

[0048] 102. Control the first motor to drive the second motor of the dual-motor drive system to run at a first preset speed without load;

[0049] Specifically, after roughly determining the zero-position deviation of the first motor, the speed of the first motor in the low-speed operation state can be accurately controlled, for example: 3500r / min, 4000r / min, etc. Therefore, the MCU can control the first motor to drag the second motor to run at no-load at the first preset speed.

[0050] 103. Determine a zero position deviation of the second motor based on a first back electromotive force of the second motor at the first preset speed;

[0051] 104. Control the second motor to drive the first motor to run at a second preset speed without load;

[0052] 105. Determine a zero position deviation of the first motor based on a second back electromotive force of the first motor at the second preset speed.

[0053] Specifically, the zero-position deviation of the second motor can be calculated using the first back EMF. Then, the second motor is controlled to drive the first motor to run at a second preset speed without load, thereby obtaining the second back EMF of the first motor. This second back EMF is then used to calculate the zero-position deviation of the first motor. This allows for high-precision iterative identification of the zero-position deviation of the two motors in the dual-motor drive system, achieving high-precision identification of the zero-position deviation of the motors in the dual-motor drive system without additional equipment, processes, or testing conditions.

[0054] Based on the content of the above embodiment, before obtaining the initial resolver value of the first motor of the dual-motor drive system when it is no-load, the method further includes:

[0055] determining whether the first motor is mechanically disengaged from an output shaft of a gearbox of the dual-motor drive system;

[0056] After determining that the first motor is mechanically disconnected from the output shaft of the gearbox, the step of obtaining an initial resolution value of the first motor when the motor is no-load is performed.

[0057] It is understandable that when roughly determining the zero-position deviation of the first motor, that is, obtaining the initial resolution value of the first motor when no-load, in order to ensure the accuracy of the obtained initial resolution value, it is necessary to ensure that the first motor is in a no-load state, that is, the first motor is completely mechanically disengaged from the output shaft of the gearbox. Therefore, before obtaining the initial resolution value, it is first determined whether the first motor is mechanically disengaged from the output shaft of the gearbox of the dual-motor drive system.

[0058] Specifically, the MCU sends a control instruction to the automatic transmission control unit (TCU) of the transmission of the dual-motor drive system, so that the TCU controls the first motor to mechanically disengage from the output shaft of the transmission.

[0059] Based on the content of the above embodiment, the method of controlling the first motor to drive the second motor of the dual-motor drive system to run at no load before the first preset speed further includes:

[0060] determining whether the first motor and the second motor are mechanically coupled;

[0061] After determining that the first motor and the second motor are mechanically coupled, controlling the first motor to drive the second motor to run at a first preset speed without load is performed.

[0062] Specifically, before the MCU controls the first motor to drive the second motor of the dual-motor drive system to run at a first preset speed without load, it needs to ensure that the first motor and the second motor are mechanically coupled.

[0063] More specifically, the MCU issues a control instruction to the TCU, so that the TCU controls the mechanical coupling of the first motor and the second motor.

[0064] Based on the content of the above embodiment, the controlling the second motor to drive the first motor to run at no load at the second preset speed further includes:

[0065] determining whether the first motor and the second motor are mechanically coupled;

[0066] After determining that the first motor and the second motor are mechanically coupled, controlling the second motor to drive the first motor to run at a second preset speed without load is performed.

[0067] Specifically, before the MCU controls the second motor to drive the first motor to run at the second preset speed without load, it also needs to ensure that the first motor and the second motor are mechanically coupled.

[0068] It is understandable that if Figure 2 and Figure 3As shown in FIG. 1 , there are dual-motor drive systems used in current pure electric vehicles and hybrid vehicles, respectively. Motor 1 and Motor 2 correspond to the first motor and the second motor provided in the embodiment of the present invention, respectively. When the motor zero-position deviation determination method of the dual-motor drive system provided in the embodiment of the present invention is used to determine the motor zero-position deviation, it is first necessary to ensure that the dual motors can be completely mechanically disengaged from the output shaft of the automatic mechanical transmission (AMT) or other transmission of the dual-motor drive system through a controllable shifting device or clutch mechanism, and that the dual motors can be disengaged or mechanically coupled to each other through the shifting mechanism or clutch mechanism. At the same time, for example, Figure 3 The dual-motor drive system used in the hybrid vehicle shown must also ensure that the dual motors can be disengaged from the engine's input shaft by controlling the clutch.

[0069] Further, in order to facilitate the understanding of the solution provided by the embodiment of the present invention, the following is based on the structure as Figure 4 The MCU of the motor inverter shown in the figure is used to specifically illustrate the motor zero deviation driving method of the dual motor drive system provided by the embodiment of the present invention. Figure 2 and Figure 3 The specific process of determining the zero position deviation of the dual motors in the dual motor drive system is shown.

[0070] It should be noted that Figure 4 The MCU structure shown is a commonly used motor inverter MCU currently used for dual-motor control of a dual-motor drive system, wherein motor 1 and motor 2 correspond to the first motor and the second motor provided in the embodiment of the present invention, respectively.

[0071] Specifically, using Figure 4 The MCU shown is Figure 2 and Figure 3 The specific process for determining the zero position deviation of the dual motors in the dual motor drive system shown is as follows Figure 5 As shown, the following steps are included:

[0072] 501. Control the TCU to disengage the motor 1 shaft via the transmission clutch;

[0073] 502. In the three-phase full-bridge IGBT power switches, S2, S3, and S5 are turned on, and S1, S4, and S6 are turned off;

[0074] 503. Obtain the rotation value of the motor 1 when the rotor reaches the initial position, and use it as the initial zero position deviation M1_delta_L of the motor 1.

[0075] 504. Control the TCU to mechanically engage and link motor 1 and motor 2 through the transmission clutch and gear position;

[0076] 505. Perform closed-loop speed control on motor 1 so that motor 1 provides a specific speed, i.e., a first preset speed, to motor 2;

[0077] 506 , obtaining a back electromotive force sampling value of the motor 2 at a first preset speed to parse out a zero position deviation M2_delta_H of the motor 2 ;

[0078] 507. Perform closed-loop speed control on motor 2 so that motor 2 provides a specific speed for motor 1, i.e., a second preset speed;

[0079] 508 . Obtain a back electromotive force sampling value of the motor 1 at a second preset speed to parse out a zero position deviation M1_delta_H of the motor 1 .

[0080] As mentioned above Figure 5 The process shown adopts the motor zero-position deviation determination method of the dual-motor drive system provided by the embodiment of the present invention. First, the initial zero-position deviation of one of the dual motors in the dual-motor drive system is identified. Then, the speed closed-loop control is performed on the motor that has completed the initial zero-position deviation identification, so that the motor that has completed the initial zero-position deviation identification is used to drag the other motor to a specific speed, thereby completing the high-precision detection and calibration of the zero-position deviation of the other motor. Thereafter, the motor that has completed the high-precision detection and calibration of the zero-position deviation is used to drag the motor that has completed the initial zero-position deviation identification to a specific speed, thereby completing the high-precision detection and calibration of the zero-position deviation of the motor that has completed the initial zero-position deviation. Even if the two motors in the dual-motor drive system complete the high-precision detection and calibration of the zero-position deviation in an iterative manner, high-precision identification of the zero-position deviation of the dual motors in the dual-motor drive system is achieved without additional equipment, processes and testing conditions.

[0081] The following describes a motor zero position deviation determination system for a dual-motor drive system provided by the present invention. The motor zero position deviation determination system for a dual-motor drive system described below and the motor zero position deviation determination method for a dual-motor drive system described above can be referenced to each other.

[0082] like Figure 6 As shown, a motor zero position deviation determination system of a dual-motor drive system provided by an embodiment of the present invention includes: an MCU610 of the dual-motor drive system; wherein,

[0083] The MCU610 is used to obtain the initial rotational transformation value of the first motor 620 of the dual-motor drive system when it is no-load, and use it as the initial zero-position deviation of the first motor 620, control the first motor 620 to drag the second motor 630 of the dual-motor drive system to run at a first preset speed without load, and determine the zero-position deviation of the second motor 630 based on the first back electromotive force of the second motor 630 at the first preset speed; control the second motor 630 to drag the first motor 620 to run at a second preset speed without load; and determine the zero-position deviation of the first motor 620 based on the second back electromotive force of the first motor 620 at the second preset speed.

[0084] The motor zero position deviation determination system of the dual-motor drive system provided by the embodiment of the present invention achieves a rough determination of the zero position deviation of the first motor by obtaining the initial rotational variable value of the first motor of the dual-motor drive system when it is no-load, that is, the rotational variable value of the first motor when the rotor of the first motor runs to the initial position, and using the initial rotational variable value as the initial zero position deviation of the first motor. Then, the first motor can be controlled to drive the second motor of the dual-motor drive system to run at a first preset speed without load to obtain the first back electromotive force of the second motor at the first preset speed, so as to determine the zero position deviation of the second motor based on the first back electromotive force. After the zero position deviation of the second motor has been determined, the second motor can be controlled to drive the first motor to run at a second preset speed without load to obtain the second back electromotive force of the first motor at the second preset speed, so as to determine the zero position deviation of the first motor based on the second back electromotive force, thereby achieving high-precision identification of the zero position deviation of the two motors in the dual-motor drive system in an iterative manner, that is, achieving high-precision identification of the motor zero position deviation of the dual-motor drive system without additional equipment, processes and testing conditions.

[0085] Based on the contents of the above embodiments, the motor zero position deviation determination system of the dual-motor drive system provided by the embodiment of the present invention further includes: a TCU of the dual-motor drive system;

[0086] The TCU is used to mechanically disconnect the first motor from the output shaft of the gearbox of the dual-motor drive system by controlling the shift device or clutch mechanism of the dual-motor drive system.

[0087] Based on the content of the above embodiment, the TCU is further configured to control the shift device or the clutch mechanism to decouple or mechanically couple the first motor and the second motor from each other.

[0088] Based on the contents of the above embodiment, when the dual-motor drive system is applied to a hybrid vehicle, the TCU is further used to disconnect the first motor and the second motor from the input end of the engine by controlling the clutch between the engine of the hybrid vehicle and the dual-motor drive system.

[0089] Optionally, the MCU 610 is further configured to:

[0090] determining whether the first motor is mechanically disengaged from an output shaft of a gearbox of the dual-motor drive system;

[0091] After determining that the first motor is mechanically disconnected from the output shaft of the gearbox, the step of obtaining an initial resolution value of the first motor when the motor is no-load is performed.

[0092] Optionally, the MCU 610 is further configured to:

[0093] determining whether the first motor and the second motor are mechanically coupled;

[0094] After determining that the first motor and the second motor are mechanically coupled, controlling the first motor to drive the second motor to run at no-load at a first preset speed is executed, or controlling the second motor to drive the first motor to run at no-load at a second preset speed is executed.

[0095] An embodiment of the present invention also provides a method for determining the motor zero position deviation of a dual-motor drive system as described in any of the above embodiments to determine the motor zero position deviation of the dual-motor drive system, or a vehicle including the motor zero position deviation determination system of the dual-motor drive system as described in any of the above embodiments.

[0096] It can be understood that the motor zero position deviation determination method of the dual-motor drive system as described in any of the above embodiments is used to determine the motor zero position deviation of the dual-motor drive system, or the vehicle includes the motor zero position deviation determination system of the dual-motor drive system as described in any of the above embodiments, has all the advantages and technical effects of the motor zero position deviation determination method of the dual-motor drive system or the motor zero position deviation determination system of the dual-motor drive system as described in any of the above embodiments, which will not be repeated here.

[0097] Figure 7 An example of a physical structure diagram of an electronic device is shown below. Figure 7As shown, the electronic device may include: a processor 710, a communication interface 720, a memory 730 and a communication bus 740, wherein the processor 710, the communication interface 720, and the memory 730 communicate with each other via the communication bus 740. The processor 710 can call the logic instructions in the memory 730 to execute a method for determining the zero position deviation of a motor of a dual-motor drive system, the method comprising: obtaining an initial rotation value of a first motor of the dual-motor drive system at no load, and using it as the initial zero position deviation of the first motor, the initial rotation value being the rotation value of the first motor when the rotor of the first motor runs to the initial position; controlling the first motor to drive the second motor of the dual-motor drive system to run at no load at a first preset speed; determining the zero position deviation of the second motor based on the first back electromotive force of the second motor at the first preset speed; controlling the second motor to drive the first motor to run at no load at a second preset speed; and determining the zero position deviation of the first motor based on the second back electromotive force of the first motor at the second preset speed.

[0098] In addition, the logic instructions in the above-mentioned memory 730 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present invention, 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. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or 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.

[0099] On the other hand, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the motor zero-position deviation determination method of a dual-motor drive system provided by the above methods, the method including: obtaining an initial rotational change value of the first motor of the dual-motor drive system at no-load, and using it as the initial zero-position deviation of the first motor, the initial rotational change value being the rotational change value of the first motor when the rotor of the first motor runs to an initial position; controlling the first motor to drive the second motor of the dual-motor drive system to run at a first preset speed at no-load; determining the zero-position deviation of the second motor based on the first back electromotive force of the second motor at the first preset speed; controlling the second motor to drive the first motor to run at a second preset speed at no-load; and determining the zero-position deviation of the first motor based on the second back electromotive force of the first motor at the second preset speed.

[0100] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a method for determining the zero-position deviation of a motor of a dual-motor drive system, the method comprising: obtaining an initial rotational transformation value of the first motor of the dual-motor drive system at no-load, and using it as the initial zero-position deviation of the first motor, the initial rotational transformation value being the rotational transformation value of the first motor when the rotor of the first motor runs to an initial position; controlling the first motor to drag the second motor of the dual-motor drive system to run at a first preset speed at no-load; determining the zero-position deviation of the second motor based on the first back electromotive force of the second motor at the first preset speed; controlling the second motor to drag the first motor to run at a second preset speed at no-load; and determining the zero-position deviation of the first motor based on the second back electromotive force of the first motor at the second preset speed.

[0101] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0102] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling 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 certain parts of the embodiments.

[0103] 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 various embodiments of the present invention.

Claims

1. A method for determining the zero position deviation of a motor in a dual-motor drive system, characterized in that: include: Obtaining an initial resolution value of a first motor of the dual-motor drive system when it is no-load and using the value as an initial zero-position deviation of the first motor, wherein the initial resolution value is a resolution value of the first motor when the rotor of the first motor runs to an initial position; Control the first motor to drive the second motor of the dual-motor drive system to run at a first preset speed without load; Analyze and obtain a zero position deviation of the second motor based on a first back electromotive force sampling value of the second motor at the first preset speed; Control the second motor to drive the first motor to run at a second preset speed without load; Based on the second back electromotive force sampling value of the first motor at the second preset speed, the zero position deviation of the first motor is analyzed and obtained.

2. The method for determining the motor zero position deviation of the dual-motor drive system according to claim 1, characterized in that: Before obtaining the initial resolver value of the first motor of the dual-motor drive system when it is no-load, the method further includes: determining whether the first motor is mechanically disengaged from an output shaft of a gearbox of the dual-motor drive system; After determining that the first motor is mechanically disconnected from the output shaft of the gearbox, an initial rotation value of the first motor at no load is obtained.

3. The method for determining the motor zero position deviation of the dual-motor drive system according to claim 1, characterized in that: The controlling the first motor to drive the second motor of the dual-motor drive system to run at no load before the first preset speed also includes: determining whether the first motor and the second motor are mechanically coupled; After determining that the first motor and the second motor are mechanically coupled, controlling the first motor to drive the second motor to run at a first preset speed without load is performed.

4. The method for determining the motor zero position deviation of the dual-motor drive system according to claim 1, characterized in that: Before the second motor is controlled to drive the first motor to run at no load at a second preset speed, the method further includes: determining whether the first motor and the second motor are mechanically coupled; After determining that the first motor and the second motor are mechanically coupled, controlling the second motor to drive the first motor to run at a second preset speed without load is performed.

5. A motor zero position deviation determination system for a dual-motor drive system, characterized in that: include: MCU for dual-motor drive system; The MCU is used to obtain an initial resolution value of the first motor of the dual-motor drive system when it is no-load, and use it as an initial zero-position deviation of the first motor, wherein the initial resolution value is the resolution value of the first motor when the rotor of the first motor runs to an initial position; and control the first motor to drive the second motor of the dual-motor drive system to run at a first preset speed without load; Analyze and obtain a zero position deviation of the second motor based on a first back electromotive force sample value of the second motor at the first preset speed; control the second motor to drive the first motor to run at a second preset speed without load; Based on the second back electromotive force sampling value of the first motor at the second preset speed, the zero position deviation of the first motor is analyzed and obtained.

6. The motor zero position deviation determination system of the dual-motor drive system according to claim 5, characterized in that: Also includes: The TCU of the dual-motor drive system; The TCU is used to mechanically disconnect the first motor from the output shaft of the gearbox of the dual-motor drive system by controlling the shift device or clutch mechanism of the dual-motor drive system.

7. The motor zero position deviation determination system of the dual-motor drive system according to claim 6, characterized in that: The TCU is further configured to control the shift device or the clutch mechanism to decouple or mechanically couple the first motor and the second motor from each other.

8. The motor zero position deviation determination system of the dual-motor drive system according to claim 7, characterized in that: When the dual-motor drive system is applied to a hybrid vehicle, the TCU is further configured to disconnect the first motor and the second motor from the input end of the engine by controlling a clutch between the engine of the hybrid vehicle and the dual-motor drive system.

9. A vehicle, characterized in that: The motor zero position deviation of the dual-motor drive system is determined by using the motor zero position deviation determination method of the dual-motor drive system as described in any one of claims 1 to 4, or the motor zero position deviation determination system of the dual-motor drive system includes the motor zero position deviation determination system of any one of claims 5 to 8.

10. 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 computer program, the method for determining the motor zero position deviation of the dual-motor drive system according to any one of claims 1 to 4 is implemented.

11. 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 method for determining the motor zero position deviation of the dual-motor drive system according to any one of claims 1 to 4 is implemented.

Images