Torque distribution method, device, equipment and medium of multi-motor system

Abstract

Embodiments of the present application disclose a torque distribution method, device, equipment and medium for a multi-motor system. The method comprises: acquiring a pedal opening degree and a current speed of a current vehicle, and determining a current demand torque of the current vehicle according to the pedal opening degree and the current speed; determining at least one candidate torque distribution mode matched with the current demand torque; determining, for any candidate torque distribution mode, a candidate torque distribution combination of different motors in the candidate torque distribution mode; determining motor output powers corresponding to each candidate torque distribution combination in different candidate torque distribution modes; and selecting a target torque distribution combination from each candidate torque distribution combination according to the motor output powers of different candidate torque distribution combinations. The above scheme realizes reasonable distribution of motor torques for the multi-motor system.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of vehicle control technology, and in particular to a torque distribution method, device, equipment and medium for a multi-motor system. Background Technology

[0002] With the development of technology, the market share of electric vehicles is gradually increasing. As the demand for drive systems rises, multi-motor pure electric vehicles are also becoming more prevalent. For multi-motor electric vehicles, it is crucial to rationally distribute the motor torque according to the vehicle's current torque requirements. Summary of the Invention

[0003] This invention provides a torque distribution method, device, equipment, and medium for a multi-motor system, so as to achieve reasonable distribution of motor torque in a multi-motor system.

[0004] According to one aspect of the present invention, a torque distribution method for a multi-motor system is provided, comprising:

[0005] Obtain the pedal opening and current speed of the current vehicle, and determine the current required torque of the current vehicle based on the pedal opening and the current speed;

[0006] Determine at least one candidate torque allocation pattern that matches the current required torque;

[0007] For any candidate torque allocation mode, determine the candidate torque allocation combination for different motors under that candidate torque allocation mode;

[0008] Determine the motor output power corresponding to each candidate torque allocation combination under different candidate torque allocation modes;

[0009] Based on the motor output power of different candidate torque distribution combinations, a target torque distribution combination is selected from each of the candidate torque distribution combinations.

[0010] According to another aspect of the present invention, a torque distribution device for a multi-motor system is provided, comprising:

[0011] The current demand torque determination module is used to obtain the pedal opening and current speed of the current vehicle, and determine the current demand torque of the current vehicle based on the pedal opening and the current speed.

[0012] A torque distribution mode determination module is used to determine at least one candidate torque distribution mode that matches the current required torque.

[0013] The torque distribution combination determination module is used to determine the candidate torque distribution combination of different motors under any candidate torque distribution mode.

[0014] The motor output power determination module is used to determine the motor output power corresponding to each candidate torque allocation combination under different candidate torque allocation modes;

[0015] The target torque allocation determination module is used to select a target torque allocation combination from the candidate torque allocation combinations based on the motor output power of different candidate torque allocation combinations.

[0016] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0017] At least one processor; and

[0018] A memory communicatively connected to the at least one processor; wherein,

[0019] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the torque distribution method for a multi-motor system according to any embodiment of the present invention.

[0020] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the torque distribution method of the multi-motor system according to any embodiment of the present invention.

[0021] This invention provides a torque distribution scheme for a multi-motor system. By determining at least one candidate torque distribution mode based on the current required torque, and selecting a target torque distribution combination based on the motor output power of different candidate torque distribution combinations under each candidate torque distribution mode, this invention achieves consideration of various possible candidate torque distribution modes and combinations in a multi-motor system, improves the accuracy of the target torque distribution combination, and realizes the rationality of motor torque distribution in a multi-motor system.

[0022] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a flowchart of a torque distribution method for a multi-motor system provided in Embodiment 1 of the present invention;

[0025] Figure 2 This is a flowchart of a torque distribution method for a multi-motor system provided in Embodiment 2 of the present invention;

[0026] Figure 3 This is a schematic diagram of the structure of a torque distribution device for a multi-motor system provided in Embodiment 3 of the present invention;

[0027] Figure 4 This is a schematic diagram of the structure of an electronic device for implementing a torque distribution method for a multi-motor system, provided in Embodiment 4 of the present invention. Detailed Implementation

[0028] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0029] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0030] Example 1

[0031] Figure 1 This is a flowchart of a torque distribution method for a multi-motor system provided in Embodiment 1 of the present invention. This embodiment can be applied to the situation where a torque distribution method is determined in a multi-motor system. The method can be executed by a torque distribution device for the multi-motor system. The device can be implemented in hardware and / or software and can be configured in an electronic device that carries the torque distribution function of the multi-motor system.

[0032] See Figure 1 The torque distribution method for the multi-motor system shown includes:

[0033] S110. Obtain the pedal opening and current speed of the current vehicle, and determine the current torque requirement of the current vehicle based on the pedal opening and current speed.

[0034] In this context, "current vehicle" refers to the vehicle requiring torque distribution. This embodiment of the invention does not limit the type of current vehicle; it can be selected by a technician based on experience or needs, as long as the current vehicle has at least two motors. For example, the current vehicle could be a vehicle containing four motors and a dual electric drive axle. Pedal opening refers to the accelerator pedal opening of the current vehicle at the current moment. Current speed refers to the speed of the current vehicle at the current moment. Current required torque refers to the amount of torque required by the current vehicle at the current moment.

[0035] For example, the current required torque can be determined using the following formula:

[0036] T req =αT max (v x );

[0037] Among them, T req Indicates the current required torque; α represents the pedal opening; T max This indicates the peak torque that the electric drive axle in the current vehicle can output; v x This indicates the current speed. It should be noted that the peak torque T... max and current speed v x There is a one-to-one correspondence; at the current speed v x When determined, the peak torque T max That should confirm it.

[0038] Specifically, the system obtains the pedal opening and current speed of the vehicle at the current moment, and determines the current torque required by the vehicle based on the pedal opening and current speed.

[0039] S120. Determine at least one candidate torque distribution pattern that matches the current required torque.

[0040] The candidate torque distribution mode refers to the motor allocation method that can meet the current torque demand. Specifically, the candidate torque distribution mode can include the motor model and the number of motors. The type and / or number of candidate torque distribution modes can be determined based on the current vehicle type and the current torque demand. For example, if the current vehicle is a four-motor dual-electric drive axle vehicle, the candidate torque distribution modes can include single-motor mode, dual-motor mode, three-motor mode, and four-motor mode.

[0041] Specifically, based on the current required torque, at least one candidate torque distribution mode is determined to match.

[0042] S130. For any candidate torque distribution mode, determine the candidate torque distribution combination of different motors under that candidate torque distribution mode.

[0043] Here, a candidate torque allocation combination refers to a torque allocation method that can meet the current torque requirement. Specifically, a candidate torque allocation combination can include the motor model and the magnitude of the torque allocated to each motor. It should be noted that for any candidate torque allocation mode that requires at least two motors, the number of candidate torque allocation combinations for different motors in this candidate torque allocation mode is at least one; for a candidate torque allocation mode that requires only one motor, there are no candidate torque allocation combinations in this candidate torque allocation mode.

[0044] Specifically, for any candidate torque allocation mode that includes requirements for at least two motors, determine the candidate torque allocation combinations for different motors under that candidate torque allocation mode.

[0045] S140. Determine the motor output power corresponding to each candidate torque distribution combination under different candidate torque distribution modes.

[0046] Among them, motor output power refers to the total output power of each motor in the candidate torque distribution combination.

[0047] In an optional embodiment, the motor output power can be determined directly based on the motor torque of each motor in the candidate torque allocation combination, without considering other factors.

[0048] To improve the accuracy of motor output power, in another optional embodiment, the motor output power can take into account the loss of motor output power by the electric drive bridge. Based on the efficiency of the electric drive bridge, the power corresponding to each motor torque in the candidate torque allocation combination is compensated, and the motor output power is determined by the compensated power.

[0049] Optionally, embodiments of the present invention can determine the motor output power corresponding to all candidate torque allocation combinations under different candidate torque allocation modes based on the efficiency of the electric drive axle. Specifically, determining the motor output power corresponding to each candidate torque allocation combination under different candidate torque allocation modes includes: for any candidate torque allocation combination under different candidate torque allocation modes, determining the motor power to be processed for each motor in the candidate torque allocation combination; determining the processable motor power for each motor in the candidate torque allocation combination based on the motor power to be processed and the current electric drive axle efficiency of the vehicle; and determining the motor output power corresponding to the candidate torque allocation combination based on the processable motor power of each motor in the candidate torque allocation combination.

[0050] Here, the motor power to be processed refers to the motor power corresponding to the motor torque of each motor in the candidate torque allocation combination. Specifically, the number of motor powers to be processed corresponds to the number of motor torques in the candidate torque allocation combination, that is, one motor torque corresponds to one motor power to be processed. For example, if the candidate torque allocation combination includes motor torque 'a' of motor A, motor torque 'b' of motor B, and motor torque 'c' of motor C, then the motor power to be processed corresponding to this candidate torque allocation combination includes motor power a' corresponding to motor torque 'a', motor power b' corresponding to motor torque 'b', and motor power c' corresponding to motor torque 'c'.

[0051] In this embodiment of the invention, the efficiency of the electric drive axle is not specifically limited and can be set by a technician based on experience. For example, the efficiency of the electric drive axle can be determined according to the type of vehicle. It should be noted that if the vehicle includes dual electric drive axles, the efficiencies of the different electric drive axles can be the same or different.

[0052] Here, the manageable motor power refers to the motor power of each motor after electric drive bridge efficiency compensation in the candidate torque allocation combination. Continuing the previous example, the manageable motor power corresponding to this candidate torque allocation combination may include the manageable motor power a” corresponding to the motor power a' to be processed, the manageable motor power b” corresponding to the motor power b' to be processed, and the manageable motor power c” corresponding to the motor power c' to be processed.

[0053] For example, the manageable motor power can be determined using the following formula:

[0054]

[0055] Where P represents the manageable motor power; P m Indicates the power of the motor to be processed; η M This represents the efficiency of the electric drive bridge. It should be noted that the efficiency η of the electric drive bridge... M Based on the power P of the motor to be processed m The corresponding electric drive axle of the motor is determined. For example, if the power P of the motor to be processed... m If the electric drive bridge containing the corresponding motor is h, then the efficiency η of the electric drive bridge is... M Let h be the efficiency of the electric drive bridge.

[0056] The power P of the motor to be processed can be determined using the following formula. m :

[0057]

[0058] η m =f(n) M ,TM );

[0059]

[0060] Where, n M Indicates the motor's rotational speed; v x Indicates the current speed; i M The motor speed ratio is represented by 0.377; the coefficient is represented by r; the rolling radius of the vehicle's tires is represented by f; the efficiency value corresponding to the motor's speed and torque is represented by η. m Indicates the efficiency of the motor; T M This indicates the motor's torque; 9550 represents the coefficient. It should be noted that the motor's speed can be determined based on the current speed.

[0061] Continuing from the previous example, the motor output power corresponding to this candidate torque distribution combination is the sum of the manageable motor power a”, manageable motor power b”, and manageable motor power c”.

[0062] Understandably, by taking into account the efficiency of the electric drive axle and determining the motor output power, the situation where the determined motor output power cannot meet the current torque requirement is avoided, thus improving the accuracy of the motor output power.

[0063] Alternatively, embodiments of the present invention can determine the motor output power corresponding to some candidate torque allocation combinations under different candidate torque allocation modes based on the efficiency of the electric drive axle. Specifically, determining the motor output power corresponding to each candidate torque allocation combination under different candidate torque allocation modes includes: for any candidate torque allocation combination under different candidate torque allocation modes, determining the motor power to be processed for each motor in that candidate torque allocation combination; selecting a preset selection threshold number of reference torque allocation combinations from the candidate torque allocation combinations under that candidate torque allocation mode based on the motor power to be processed for each motor in each candidate torque allocation combination under any candidate torque allocation mode and a preset selection threshold; determining the processable motor power for each motor in the reference torque allocation combination based on the motor power to be processed for each motor in the reference torque allocation combination and the current vehicle's electric drive axle efficiency; and determining the motor output power corresponding to different reference torque allocation combinations based on the processable motor power for each motor in the reference torque allocation combination.

[0064] In this embodiment of the invention, the size of the preset selection threshold is not limited. It can be set by technicians based on experience or needs, or it can be determined through repeated experiments. It should be noted that motors on the same electric drive axle have the same electric drive axle efficiency; motors on different electric drive axles may have the same or different electric drive axle efficiencies. The reference torque distribution combination refers to the candidate torque distribution combination for which electric drive axle efficiency compensation is required.

[0065] For example, if the preset selection threshold is 10, for each candidate torque allocation combination under any candidate torque allocation mode, the sum of the power of each motor to be processed corresponding to each candidate torque allocation combination is determined. Based on the determined sum of the power of each motor to be processed, 10 candidate torque allocation combinations with smaller sums of power of each motor to be processed are selected from the candidate torque allocation combinations as reference torque allocation combinations. According to the efficiency of the electric drive axle, the power of each motor to be processed in the reference torque allocation combination is compensated to obtain the processable motor power of each motor in the reference torque allocation combination. According to the processable motor efficiency of each motor in any reference torque allocation combination, the motor output power corresponding to the reference torque allocation combination is determined.

[0066] It should be noted that the preset selection thresholds corresponding to different candidate torque distribution modes can be the same or different, and the embodiments of the present invention do not impose any limitations on this.

[0067] Understandably, by introducing a reference torque distribution combination, compensation for the electric drive bridge efficiency can be achieved for some candidate torque distribution combinations, reducing the amount of computation and improving the efficiency of determining the motor output power.

[0068] S150. Based on the motor output power of different candidate torque distribution combinations, select the target torque distribution combination from each candidate torque distribution combination.

[0069] The target torque distribution combination refers to the method of torque distribution.

[0070] Specifically, when compensating for the efficiency of the electric drive axle in some candidate torque distribution combinations, the target torque distribution combination can be selected from each reference torque distribution combination based on the motor output power of different reference torque distribution combinations.

[0071] Understandably, by selecting the target torque distribution combination from the reference torque distribution combination, the amount of computation is reduced and the selection efficiency of the target torque distribution combination is improved.

[0072] It should be noted that when selecting the target torque distribution combination, it can be directly chosen from the candidate torque distribution combinations or reference torque distribution combinations under different candidate torque distribution modes. Alternatively, it can be selected from the candidate torque distribution combinations or reference torque distribution combinations under each candidate torque distribution mode, with the lower motor output power, as an intermediate torque distribution combination; then, from the intermediate torque distribution combinations, the one with the lower motor output power can be selected as the target torque distribution combination. The advantage of this approach is that it reduces the computational load and improves the efficiency of selecting the target torque distribution combination. Preferably, when determining the intermediate torque distribution combination and the target torque distribution combination, selecting the one with the lowest motor output power can reduce the impact on vehicle fuel economy.

[0073] Specifically, based on the motor output power of different candidate torque distribution combinations under each candidate torque distribution mode, the target torque distribution combination is selected from each candidate torque distribution combination.

[0074] This invention provides a torque distribution scheme for a multi-motor system. By determining at least one candidate torque distribution mode based on the current required torque, and selecting a target torque distribution combination based on the motor output power of different candidate torque distribution combinations under each candidate torque distribution mode, this invention achieves consideration of various possible candidate torque distribution modes and combinations in a multi-motor system, improves the accuracy of the target torque distribution combination, and realizes the rationality of motor torque distribution in a multi-motor system.

[0075] Based on the above technical solution, if a candidate torque allocation mode for a motor is required, the motor efficiency corresponding to the motor speed can be obtained directly from the motor efficiency map using interpolation. Based on the motor speed and efficiency, the power of the motor to be processed can be determined. In the motor efficiency map, the horizontal axis represents the motor speed, and the vertical axis represents the motor torque; one torque corresponds to one motor efficiency.

[0076] Example 2

[0077] Figure 2This is a flowchart of a torque allocation method for a multi-motor system provided in Embodiment 2 of the present invention. Based on the above embodiments, this embodiment further refines the operation of "determining the candidate torque allocation combination of different motors under the candidate torque allocation mode" to "if a candidate torque allocation mode includes a requirement for at least two motors, determine the allowable torque range of each motor in the candidate torque allocation mode based on the current required torque; select one motor as a reference motor from the at least two motors in the candidate torque allocation mode, and the other motors as motors to be processed; determine the candidate torque allocation combination between the reference motor and each motor to be processed under the candidate torque allocation mode based on the allowable torque range of the motors to be processed and the current required torque," thereby improving the mechanism for determining the candidate torque allocation combination. It should be noted that for parts not detailed in this embodiment, please refer to the descriptions in other embodiments.

[0078] See Figure 2 The torque distribution method for the multi-motor system shown includes:

[0079] S210. Obtain the pedal opening and current speed of the current vehicle, and determine the current torque requirement of the current vehicle based on the pedal opening and current speed.

[0080] S220. Determine at least one candidate torque distribution pattern that matches the current required torque.

[0081] S230. For any candidate torque distribution mode, if it includes candidate torque distribution modes that require at least two motors, determine the allowable torque range of each motor in the candidate torque distribution mode based on the current speed.

[0082] The allowable torque range refers to the range of torque that the motor can provide under the current torque requirement.

[0083] Specifically, for any candidate torque distribution mode, if the candidate torque distribution mode includes a requirement for at least two motors, the motor speed can be determined based on the current speed, and the allowable torque range of the motor can be determined based on the motor speed.

[0084] It should be noted that the allowable torque range of different motors may be the same or different, and the embodiments of the present invention do not impose any limitations on this.

[0085] S240. Select one motor as the reference motor from at least two motors in the candidate torque distribution mode, and the other motors are motors to be processed.

[0086] The motor to be processed refers to a motor whose torque can be determined directly from the torque value corresponding to any point within the allowable torque range. The reference motor refers to a motor whose torque can be determined based on the torque of the motor to be processed.

[0087] For example, if a candidate torque allocation pattern requiring at least two motors is included, then the relationship between the current required torque and the torque of each motor satisfies:

[0088]

[0089] Among them, T req Indicates the current torque demand; T M1 T represents the torque of the first motor; M2 T represents the torque of the second motor. Mn This represents the torque of the nth motor; This indicates the peak torque of the first motor; This indicates the peak torque of the second motor; i represents the peak torque of the nth motor; M1 Indicates the speed ratio of the first motor; i M2 Indicates the speed ratio of the second motor; i Mn This represents the speed ratio of the nth motor. It should be noted that when the required torque changes, the peak torque of each motor will change accordingly, meaning the allowable torque range for each motor will change.

[0090] For example, for any candidate torque allocation pattern that includes three motors, namely motor A, motor B, and motor C, motor C can be used as the reference motor, while motors A and B can both be used as motors to be processed.

[0091] S250. Based on the allowable torque range and current required torque of the motor to be processed, determine the candidate torque allocation combination between the reference motor and each motor to be processed under this candidate torque allocation mode.

[0092] In one optional embodiment, determining the candidate torque allocation combination between the reference motor and each motor to be processed under the candidate torque allocation mode based on the allowable torque range of the motor to be processed and the current required torque includes: generating a reference torque sequence for each motor to be processed based on the allowable torque range of each motor to be processed; and determining the candidate torque allocation combination between the reference motor and each motor to be processed based on the reference torque value in the reference torque sequence of different motors to be processed, the allowable torque range of the reference motor, and the current required torque.

[0093] The reference torque sequence can be used to store the torque values ​​of the motor to be processed. Specifically, the reference torque sequence can be a matrix. The reference torque value refers to the torque value of the motor to be processed in the reference torque sequence.

[0094] Specifically, based on the allowable torque range of each motor to be processed, a reference torque sequence for each motor to be processed is generated. This includes: for any motor to be processed, the difference between the maximum value in the allowable torque range of the motor to be processed and a preset value is used as the interval torque quantity; the interval torque quantity is found in the allowable torque range of the motor to be processed and used as the reference torque value of the motor to be processed; and a reference torque sequence for the motor to be processed is generated based on the reference torque value. Here, the interval torque quantity refers to the number of torque values ​​selected from the allowable torque range of the motor to be processed. This embodiment of the invention does not limit the size of the preset value; it can be set by a technician based on experience. For example, the preset value can be 1. It should be noted that the interval torque quantity can be randomly selected from the allowable torque range of the motor to be processed, or the interval torque quantity can be selected at certain intervals.

[0095] If the preset value is 1, continuing the previous example, the maximum value in the allowable torque range of motor A is V. A The number of torques in the interval is g = V A -1. Select g torque values ​​from the allowable torque range of motor A; based on the selected g torque values, construct a reference torque sequence for motor A, then the torque values ​​in the reference torque sequence are the reference torque values ​​for motor A. Similarly, the maximum value in the allowable torque range of motor B is V. B The number of torques in the interval is h = V B -1, select h torque values ​​from the allowable torque range of motor B; based on the selected h torque values, construct the reference torque sequence of motor B, and the torque values ​​in the reference torque sequence are the reference torque values ​​of motor B.

[0096] Furthermore, based on the reference torque values ​​in the reference torque sequence of different motors to be processed, the allowable torque range of the reference motor, and the current required torque, the candidate torque allocation combination between the reference motor and each motor to be processed is determined.

[0097] Understandably, by introducing a reference torque sequence and storing the torque values ​​of the motor to be processed, the comprehensiveness of the torque values ​​of the motor to be processed is improved, providing comprehensive data support for the subsequent determination of candidate torque allocation combinations and improving the accuracy of the subsequent determination of candidate torque allocation combinations.

[0098] In one optional embodiment, a candidate torque allocation combination between the reference motor and each motor to be processed is determined based on the reference torque values ​​in the reference torque sequences of different motors to be processed, the allowable torque range of the reference motor, and the current required torque. This includes: selecting reference torque values ​​from the reference torque sequences of different motors to be processed and combining them to obtain an initial torque allocation combination; determining the initial torque value of the reference motor under different initial torque allocation combinations based on the current required torque; and using the initial torque allocation combination whose initial torque value satisfies the allowable torque range of the reference motor as a candidate torque allocation combination.

[0099] The initial torque distribution combination refers to the torque combination that needs to be judged as a candidate torque distribution combination. The initial torque value refers to the torque value of the reference motor.

[0100] Specifically, reference torque values ​​are randomly selected from different reference torque sequences of motors to be processed and combined to obtain an initial torque allocation combination; based on the current required torque and the reference torque value under the initial torque allocation combination, the initial torque value of the reference motor is determined.

[0101] For example, for any candidate torque allocation pattern involving three motors (motor A, motor B, and motor C), motor C is used as the reference motor, and motors A and B are both considered as motors to be processed. The initial torque value T of the reference motor C can be determined using the following formula. MC :

[0102]

[0103] Among them, T MC T represents the initial torque value of motor C; req Indicates the current torque demand; T MA Indicates the reference torque value of motor A; i MA T represents the speed ratio of motor A; MB Indicates the reference torque value of motor B; i MB Indicates the speed ratio of motor B; i MC This indicates the speed ratio of motor C.

[0104] Similarly, for any candidate torque allocation mode involving two motors, motor A and motor B, motor A is taken as the motor to be processed, and motor B is taken as the reference motor. The initial torque value T of the reference motor B can be determined using the following formula. MB :

[0105]

[0106] Similarly, for any candidate torque allocation pattern involving four motors (motor A, motor B, motor C, and motor D), motor D is taken as the reference motor, and motors A, B, and C are all taken as motors to be processed. The initial torque value T of the reference motor D can be determined using the following formula. MD :

[0107]

[0108] Among them, T MD Indicates the initial torque value of motor D; i MD This indicates the speed ratio of motor D.

[0109] Furthermore, for any initial torque distribution combination, it is determined whether the initial torque value under the initial torque distribution combination is within the allowable torque range of the reference motor. If it is, the initial torque distribution combination is taken as a candidate torque distribution combination; otherwise, the initial torque distribution combination is eliminated.

[0110] It is understandable that by introducing an initial torque allocation combination and selecting at least a portion of it as candidate torque allocation combinations, the amount of subsequent calculations can be reduced, and the subsequent processing of invalid candidate torque allocation combinations can be avoided, thus reducing resource waste.

[0111] In another alternative embodiment, before determining the initial torque value of the reference motor under different initial torque allocation combinations based on the current required torque, the method further includes: eliminating initial torque allocation combinations in which the reference torque value of each motor to be processed is greater than or equal to the current required torque.

[0112] Specifically, for any initial torque allocation combination, if the sum of the reference torque values ​​of each motor to be processed under that initial torque allocation combination is greater than or equal to the current required torque, then there is no need to determine the initial torque value, and that initial torque allocation combination can be directly eliminated.

[0113] Understandably, judging the reference torque values ​​under the initial torque allocation combination before determining the initial torque value, eliminating some initial torque allocation combinations, reduces the amount of calculation, avoids processing invalid initial torque allocation combinations, reduces resource waste, and improves the efficiency of subsequent processing.

[0114] S260. Determine the motor output power corresponding to each candidate torque distribution combination under different candidate torque distribution modes.

[0115] S270. Based on the motor output power of different candidate torque distribution combinations, select the target torque distribution combination from each candidate torque distribution combination.

[0116] The torque distribution scheme for a multi-motor system provided in this invention improves the accuracy and comprehensiveness of candidate torque distribution combinations by determining candidate torque distribution combinations for candidate torque distribution modes that require at least two motors.

[0117] Based on the above technical solution, this embodiment of the invention provides an optional solution. Specifically, the current required torque of the vehicle is determined according to the current pedal opening and current speed; based on the current required torque, at least one matching candidate torque allocation mode is determined; if the candidate torque allocation mode includes a candidate torque allocation mode requiring one motor, the power of the motor to be processed under the candidate torque allocation mode can be directly obtained according to the motor efficiency map, and then the motor output power under the candidate torque allocation mode can be determined according to the electric drive axle efficiency; if the candidate torque allocation mode includes a candidate torque allocation mode requiring at least two motors, each candidate torque allocation combination under the candidate torque allocation mode can be determined first, and then the motor output power of each candidate torque allocation combination can be determined according to the electric drive axle efficiency; from each motor output power, the candidate torque allocation combination or candidate torque allocation mode with the smaller motor output power is selected as the target torque allocation combination or target torque allocation mode. The target torque allocation mode refers to a single-motor mode that meets the current required torque.

[0118] The technical solution provided by this invention can quickly determine the torque distribution method of each motor in a multi-motor system while ensuring that the current torque demand of the vehicle is met, and the power consumption required for the determined torque distribution method is minimized. Furthermore, the technical solution provided by this invention has a relatively simple process, improving the efficiency of determining the torque distribution method of each motor in a multi-motor system; and, considering the efficiency of the electric drive axle, this invention improves the accuracy of the determined torque distribution method.

[0119] Example 3

[0120] Figure 3 This is a schematic diagram of the structure of a torque distribution device for a multi-motor system provided in Embodiment 3 of the present invention. This embodiment is applicable to situations where a torque distribution method is determined in a multi-motor system. This method can be executed by a torque distribution device for the multi-motor system. The device can be implemented in hardware and / or software and can be configured in an electronic device that carries the torque distribution function of the multi-motor system.

[0121] like Figure 3 As shown, the device includes: a current required torque determination module 310, a torque distribution mode determination module 320, a torque distribution combination determination module 330, a motor output power determination module 340, and a target torque distribution determination module 350. Among them,

[0122] The current demand torque determination module 310 is used to obtain the pedal opening and current speed of the current vehicle, and determine the current demand torque of the current vehicle based on the pedal opening and current speed.

[0123] The torque distribution pattern determination module 320 is used to determine at least one candidate torque distribution pattern that matches the current required torque.

[0124] The torque distribution combination determination module 330 is used to determine the candidate torque distribution combination of different motors under any candidate torque distribution mode.

[0125] The motor output power determination module 340 is used to determine the motor output power corresponding to each candidate torque allocation combination under different candidate torque allocation modes.

[0126] The target torque distribution determination module 350 is used to select a target torque distribution combination from each candidate torque distribution combination based on the motor output power of different candidate torque distribution combinations.

[0127] This invention provides a torque distribution scheme for a multi-motor system. By determining at least one candidate torque distribution mode based on the current required torque, and selecting a target torque distribution combination based on the motor output power of different candidate torque distribution combinations under each candidate torque distribution mode, this invention achieves consideration of various possible candidate torque distribution modes and combinations in a multi-motor system, improves the accuracy of the target torque distribution combination, and realizes the rationality of motor torque distribution in a multi-motor system.

[0128] Optionally, if candidate torque allocation patterns requiring at least two motors are included, the torque allocation combination determination module 330 includes:

[0129] The allowable torque range determination unit is used to determine the allowable torque range of each motor in the candidate torque distribution mode based on the current speed.

[0130] The motor determination unit is used to select one motor as a reference motor from at least two motors in the candidate torque distribution mode, and the other motors are motors to be processed.

[0131] The candidate torque allocation combination determination unit is used to determine the candidate torque allocation combination between the reference motor and each motor to be processed under the candidate torque allocation mode, based on the allowable torque range of the motor to be processed and the current required torque.

[0132] Optionally, the candidate torque distribution combination determination unit includes:

[0133] The reference torque sequence determination subunit is used to generate the corresponding reference torque sequence for each motor to be processed based on the allowable torque range of each motor to be processed.

[0134] The candidate torque allocation combination determination subunit is used to determine the candidate torque allocation combination between the reference motor and each motor to be processed based on the reference torque value in the reference torque sequence of different motors to be processed, the allowable torque range of the reference motor, and the current required torque.

[0135] Optionally, the candidate torque distribution combination determination subunit includes:

[0136] The first initial torque distribution combination determination unit is used to select reference torque values ​​from the reference torque sequences of different motors to be processed and combine them to obtain the initial torque distribution combination.

[0137] The initial torque value determination unit is used to determine the initial torque value of the reference motor under different initial torque distribution combinations based on the current required torque.

[0138] The candidate torque distribution combination determination unit is used to select initial torque distribution combinations whose initial torque values ​​satisfy the allowable torque range of the reference motor as candidate torque distribution combinations.

[0139] Optionally, before the initial torque value is determined from the unit, the device further includes:

[0140] The second initial torque allocation combination determination unit is used to eliminate initial torque allocation combinations in which the reference torque value of each motor to be processed is greater than or equal to the current required torque.

[0141] Optionally, the motor output power determination module 340 includes:

[0142] The first motor power determination unit is used to determine the motor power to be processed for each motor in any candidate torque allocation combination under different candidate torque allocation modes.

[0143] The first processable motor power determination unit is used to determine the processable motor power of each motor in the candidate torque distribution combination based on the power of the motor to be processed and the efficiency of the electric drive axle of the current vehicle.

[0144] The first motor output power determination unit is used to determine the motor output power corresponding to the candidate torque allocation combination based on the processable motor power of each motor in the candidate torque allocation combination.

[0145] Optionally, the motor output power determination module 340 includes:

[0146] The second motor power determination unit is used to determine the motor power to be processed for each motor in any candidate torque allocation combination under different candidate torque allocation modes.

[0147] The reference torque distribution combination determination unit is used to select a preset selection threshold of reference torque distribution combinations from each candidate torque distribution combination under any candidate torque distribution mode, based on the motor power to be processed of each motor in each candidate torque distribution combination and the preset selection threshold.

[0148] The second processable motor power determination unit is used to determine the processable motor power of each motor in the reference torque allocation combination based on the motor power to be processed of each motor in the reference torque allocation combination and the electric drive axle efficiency of the current vehicle.

[0149] The second motor output power determination unit is used to determine the motor output power corresponding to different reference torque allocation combinations based on the processable motor power of each motor in the reference torque allocation combination.

[0150] Accordingly, the target torque distribution determination module 350 includes:

[0151] The target torque distribution combination determination unit is used to select the target torque distribution combination from each reference torque distribution combination based on the motor output power of different reference torque distribution combinations.

[0152] The torque distribution device for a multi-motor system provided in this embodiment of the invention can execute the torque distribution method for a multi-motor system provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects for executing the torque distribution method for each multi-motor system.

[0153] The technical solution of this invention involves the collection, storage, use, processing, transmission, provision, and disclosure of information such as pedal opening, current speed, and electric drive axle efficiency, all of which comply with relevant laws and regulations and do not violate public order and good morals.

[0154] Example 4

[0155] Figure 4 This is a schematic diagram of an electronic device for implementing a torque distribution method in a multi-motor system, as provided in Embodiment 4 of the present invention. The electronic device 410 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0156] like Figure 4 As shown, the electronic device 410 includes at least one processor 411 and a memory, such as a read-only memory (ROM) 412 or a random access memory (RAM) 413, communicatively connected to the at least one processor 411. The memory stores computer programs executable by the at least one processor. The processor 411 can perform various appropriate actions and processes based on the computer program stored in the ROM 412 or loaded from storage unit 418 into the RAM 413. The RAM 413 may also store various programs and data required for the operation of the electronic device 410. The processor 411, ROM 412, and RAM 413 are interconnected via a bus 414. An input / output (I / O) interface 415 is also connected to the bus 414.

[0157] Multiple components in electronic device 410 are connected to I / O interface 415, including: input unit 416, such as keyboard, mouse, etc.; output unit 417, such as various types of displays, speakers, etc.; storage unit 418, such as disk, optical disk, etc.; and communication unit 419, such as network card, modem, wireless transceiver, etc. Communication unit 419 allows electronic device 410 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0158] Processor 411 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 411 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 411 performs the various methods and processes described above, such as torque distribution methods in multi-motor systems.

[0159] In some embodiments, the torque distribution method for a multi-motor system can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 418. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 410 via ROM 412 and / or communication unit 419. When the computer program is loaded into RAM 413 and executed by processor 411, one or more steps of the torque distribution method for a multi-motor system described above can be performed. Alternatively, in other embodiments, processor 411 can be configured to perform the torque distribution method for a multi-motor system by any other suitable means (e.g., by means of firmware).

[0160] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0161] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0162] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0163] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0164] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0165] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0166] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0167] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A torque distribution method for a multi-motor system, characterized in that, include: Obtain the pedal opening and current speed of the current vehicle, and determine the current required torque of the current vehicle based on the pedal opening and the current speed; Determine at least one candidate torque allocation pattern that matches the current required torque; wherein the candidate torque allocation pattern includes the motor model and the number of motors; For any candidate torque allocation mode, determine the candidate torque allocation combination for different motors under that candidate torque allocation mode; Determine the motor output power corresponding to each candidate torque allocation combination under different candidate torque allocation modes; Based on the motor output power of different candidate torque distribution combinations, a target torque distribution combination is selected from each of the candidate torque distribution combinations; If the candidate torque allocation mode requires at least two motors, then determining the candidate torque allocation combination of different motors under the candidate torque allocation mode includes: Based on the current speed, determine the allowable torque range for each motor in the candidate torque distribution mode; From at least two motors in the candidate torque distribution mode, select one motor as the reference motor and the other motors as motors to be processed; Based on the allowable torque range of each motor to be processed, a reference torque sequence for the corresponding motor to be processed is generated. Based on the reference torque values ​​in the reference torque sequence of different motors to be processed, the allowable torque range of the reference motor, and the current required torque, a candidate torque allocation combination between the reference motor and each of the motors to be processed is determined; The step of determining the motor output power corresponding to each candidate torque allocation combination under different candidate torque allocation modes includes: For any candidate torque allocation combination under different candidate torque allocation modes, determine the motor power to be processed for each motor in the candidate torque allocation combination. Based on the motor power to be processed and the preset selection threshold of each motor in each candidate torque allocation combination under any candidate torque allocation mode, a preset selection threshold of reference torque allocation combinations are selected from each candidate torque allocation combination under that candidate torque allocation mode. Based on the motor power to be processed of each motor in the reference torque distribution combination and the electric drive axle efficiency of the current vehicle, the processable motor power of each motor in the reference torque distribution combination is determined respectively. Based on the processable motor power of each motor in the reference torque allocation combination, determine the motor output power corresponding to different reference torque allocation combinations; Accordingly, selecting the target torque distribution combination from the candidate torque distribution combinations based on the motor output power of different candidate torque distribution combinations includes: Based on the motor output power of different reference torque distribution combinations, a target torque distribution combination is selected from each of the reference torque distribution combinations.

2. The method according to claim 1, characterized in that, The step of determining the candidate torque allocation combination between the reference motor and each of the motors to be processed based on the reference torque values ​​in the reference torque sequence of different motors to be processed, the allowable torque range of the reference motor, and the current required torque includes: Reference torque values ​​are selected from the reference torque sequences of different motors to be processed and combined to obtain the initial torque distribution combination; Based on the current required torque, determine the initial torque value of the reference motor under different initial torque distribution combinations; The initial torque distribution combination that satisfies the allowable torque range of the reference motor is taken as the candidate torque distribution combination.

3. The method according to claim 2, characterized in that, Before determining the initial torque value of the reference motor under different initial torque distribution combinations based on the current required torque, the method further includes: Eliminate the initial torque allocation combinations in which the reference torque value of each motor to be processed is greater than or equal to the current required torque.

4. A torque distribution device for a multi-motor system, characterized in that, include: The current demand torque determination module is used to obtain the pedal opening and current speed of the current vehicle, and determine the current demand torque of the current vehicle based on the pedal opening and the current speed. A torque distribution mode determination module is used to determine at least one candidate torque distribution mode that matches the current required torque; wherein, the candidate torque distribution mode includes the motor model and the number of motors; The torque distribution combination determination module is used to determine the candidate torque distribution combination of different motors under any candidate torque distribution mode. The motor output power determination module is used to determine the motor output power corresponding to each candidate torque allocation combination under different candidate torque allocation modes; The target torque allocation determination module is used to select a target torque allocation combination from the candidate torque allocation combinations based on the motor output power of different candidate torque allocation combinations. The torque distribution combination determination module includes: The allowable torque range determination unit is used to determine the allowable torque range of each motor in the candidate torque distribution mode based on the current speed. The motor determination unit is used to select one motor as a reference motor from at least two motors in the candidate torque distribution mode, and the other motors are motors to be processed. The candidate torque allocation combination determination unit is used to determine the candidate torque allocation combination between the reference motor and each motor to be processed under the candidate torque allocation mode based on the allowable torque range of the motor to be processed and the current required torque. The candidate torque distribution combination determination unit includes: The reference torque sequence determination subunit is used to generate the corresponding reference torque sequence for each motor to be processed based on the allowable torque range of each motor to be processed. The candidate torque allocation combination determination subunit is used to determine the candidate torque allocation combination between the reference motor and each motor to be processed based on the reference torque value in the reference torque sequence of different motors to be processed, the allowable torque range of the reference motor, and the current required torque. The motor output power determination module includes: The second motor power determination unit is used to determine the motor power to be processed for each motor in any candidate torque allocation combination under different candidate torque allocation modes. The reference torque distribution combination determination unit is used to select a preset selection threshold of reference torque distribution combinations from each candidate torque distribution combination under any candidate torque distribution mode, based on the motor power to be processed of each motor in each candidate torque distribution combination and the preset selection threshold. The second processable motor power determination unit is used to determine the processable motor power of each motor in the reference torque allocation combination based on the motor power to be processed of each motor in the reference torque allocation combination and the electric drive axle efficiency of the current vehicle. The second motor output power determination unit is used to determine the motor output power corresponding to different reference torque allocation combinations based on the processable motor power of each motor in the reference torque allocation combination. The target torque distribution determination module includes: The target torque distribution combination determination unit is used to select a target torque distribution combination from the reference torque distribution combinations based on the motor output power of different reference torque distribution combinations.

5. An electronic device, characterized in that, include: One or more processors; Memory, used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement a torque distribution method for a multi-motor system as described in any one of claims 1-3.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by the processor, the program implements a torque distribution method for a multi-motor system as described in any one of claims 1-3.

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