Control method of dual-motor auxiliary drive system and vehicle

Abstract

The present invention provides a control method for a dual-motor auxiliary drive system and a vehicle. The control method includes: receiving a request instruction, wherein the request instruction is used to request an actuator of the dual-motor auxiliary system of a target vehicle to perform a target action, wherein the target action includes one of a synchronous disconnection action and a synchronous engagement action; detecting a first current action of the actuator to determine whether the first current action of the actuator is consistent with the target action to be performed; if it is determined that the first current action of the actuator is inconsistent with the target action to be performed, generating a torque-speed adjustment instruction, wherein the torque-speed adjustment instruction is used to adjust the torque and speed of each motor in the dual-motor auxiliary system; and responding to the request instruction if it is determined based on the torque-speed adjustment instruction that the torque and speed meet preset conditions. This method implements the operation of synchronous disconnection or synchronous engagement of the dual motors, thereby improving the synchronization of the dual motors and thereby improving the stability of the vehicle.

Description

Technical Field

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

[0002] A disconnect mechanism in an electric vehicle's powertrain is an electronically controlled device that connects and disconnects the powertrain. In electric vehicle powertrains, the disconnect mechanism is used on the auxiliary drive axle and can be located between the motor and reducer, between the reducer's reduction gear and the main reducer, or between the main reducer and the drive shaft. The disconnect mechanism disconnects the auxiliary drive chain under certain operating conditions, such as low vehicle speeds and low driver torque requests. The vehicle is then driven forward by the main drive motor, which operates at a higher efficiency. Simultaneously, the auxiliary drive disconnect mechanism disconnects the motor, reducer, and other components from the wheels, preventing reverse drag, which can cause electromotive force and inertia losses caused by the motor rotor, reducer gears, and other moving parts of the drivetrain. If the auxiliary drive system is an independent dual-motor system—each auxiliary wheel corresponds to a motor, reducer, and drive shaft—to achieve the aforementioned energy reduction requirements, a disconnect mechanism must be added to each motor system. This necessitates very high synchronization between the disconnection and engagement of these two disconnect mechanisms. If one side is engaged while the other is disengaged, the vehicle risks swerving or even instability.

[0003] In response to the above problems, there is currently no mature configuration of a dual-motor dual-side disconnect mechanism and a synchronization control method for a dual-disconnect system. Summary of the Invention

[0004] The main purpose of the present invention is to provide a control method and a vehicle for a dual-motor auxiliary drive system, so as to solve the problem in the prior art that vehicles are prone to deviation.

[0005] In order to achieve the above-mentioned purpose, according to one aspect of the present invention, a control method for a dual-motor auxiliary drive system is provided, the control method comprising: accepting a request instruction, wherein the request instruction is used to request an actuator of the dual-motor auxiliary system of the target vehicle to perform a target action, the target action comprising one of a synchronous disconnection action and a synchronous connection action; detecting a first current action of the actuator, and determining whether the first current action of the actuator is consistent with the target action to be performed; generating a torque-speed adjustment instruction when it is determined that the first current action of the actuator is inconsistent with the target action to be performed, wherein the torque-speed adjustment instruction is used to adjust the torque and speed of each motor in the dual-motor auxiliary system; and responding to the request instruction when it is determined based on the torque-speed adjustment instruction that the torque and speed meet preset conditions.

[0006] Furthermore, the control method also includes: after responding to the request instruction, detecting whether the current action of the actuator has successfully switched to the synchronous disconnection action in the target action within a preset time period; when it is determined that the current action has not successfully switched to the synchronous disconnection action, generating a synchronous disconnection instruction, and the synchronous disconnection instruction is used to control each motor to perform an action of increasing the oscillation torque; obtaining the second current action of the actuator after responding to the synchronous disconnection instruction, and generating the synchronous disconnection instruction again when it is determined that the second current action of the actuator is inconsistent with the target action; detecting the number of times the synchronous disconnection instruction is generated, and generating a fault alarm message when the number of synchronous disconnection instructions reaches a preset value, wherein the fault alarm message includes at least one of text information and voiceprint information.

[0007] Furthermore, when it is determined that the first current action of the actuator is inconsistent with the target action to be executed, a torque-speed adjustment instruction is generated, including: collecting vehicle condition information of the target vehicle, wherein the vehicle condition information includes at least one of the following: accelerator pedal opening, wheel speed, vehicle driving mode, vehicle speed, output torque of each motor in the motor-assisted drive system, steering wheel angle, current operation of the actuator, brake pedal information and gear information; generating a torque-speed adjustment instruction based on the vehicle condition information.

[0008] Furthermore, the control method also includes: after responding to the request instruction, detecting whether the current action of the actuator is successfully switched to the synchronous combination action in the target action within a preset time period; when it is determined that the current action has not been successfully switched to the synchronous combination action, generating a synchronous combination instruction, and the synchronous combination instruction is used to control the speed to be adjusted to the same speed as the target vehicle.

[0009] Furthermore, the control method also includes: confirming that the request instruction is used to request the actuator of the dual-motor auxiliary system of the target vehicle to perform the target action as a simultaneous combination action, adjusting the speed to the same as the speed of the target vehicle based on the torque-speed adjustment instruction and the synchronous combination instruction, while controlling the output value of the torque to 0, and responding to the request instruction.

[0010] Furthermore, the control method also includes: detecting the third current action of the actuator, and generating a synchronous disconnection instruction when it is determined that the third current action of the actuator does not achieve the synchronous connection action, the synchronous disconnection instruction being used to control the actuator to perform the simultaneous disconnection action.

[0011] According to another aspect of the present invention, a control device for a dual-motor assisted drive system is provided, comprising: a receiving unit, a detecting unit, a determining unit, and a responding unit. The receiving unit is configured to receive a request instruction, wherein the request instruction is configured to request an actuator of the dual-motor assisted system controlling a target vehicle to perform a target action, wherein the target action includes one of a simultaneous disconnection action and a simultaneous connection action; the detecting unit is configured to detect a first current action of the actuator and determine whether the first current action of the actuator is consistent with the target action to be performed; the determining unit is configured to generate a torque-speed adjustment instruction if it is determined that the first current action of the actuator is inconsistent with the target action to be performed, wherein the torque-speed adjustment instruction is used to adjust the torque and speed of each motor in the dual-motor assisted system; and the responding unit is configured to respond to the request instruction if it is determined, based on the torque-speed adjustment instruction, that the torque and speed meet preset conditions.

[0012] According to another aspect of the present invention, a computer-readable storage medium is provided, which includes a stored program, wherein when the program is run, the device where the computer-readable storage medium is located is controlled to execute the control method of the dual-motor auxiliary drive system.

[0013] According to another aspect of the present invention, a processor is provided, which is used to run a program, wherein the program executes the control method of the dual-motor auxiliary drive system when it is run.

[0014] According to another aspect of the present invention, a vehicle is provided, and the vehicle is controlled by using the control method of the dual-motor auxiliary drive system.

[0015] By applying the technical solution of the present invention, the target action is a synchronous disconnection action or a synchronous combination action. First, it is detected whether the first current action of the actuator of the dual-motor auxiliary system of the target vehicle is consistent with the target action. When the first current action is consistent with the target action, the operation is terminated. When the first current action is inconsistent with the target action, a torque-speed adjustment instruction is generated. According to the torque-speed adjustment instruction, the motor in the dual-motor auxiliary drive system adjusts the torque and speed to prepare for executing the target action. When the torque and speed of the motor in the dual-motor auxiliary system meet the conditions, a request instruction is responded to. The request instruction is used to request the actuator of the dual-motor auxiliary system of the target vehicle to perform a synchronous disconnection action or a synchronous combination action, thereby realizing the operation of synchronous disconnection or synchronous combination of the dual motors, so as to improve the synchronization of the dual motors and thereby improve the stability of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0017] Figure 1 A schematic flow chart showing an embodiment of a control method for a dual-motor auxiliary drive system according to the present invention is shown;

[0018] Figure 2 A schematic diagram of a control system in which a vehicle controller directly drives an actuator of a disconnect mechanism according to a control method of the present invention is shown;

[0019] Figure 3 A schematic diagram of a control system in which a small controller of a disconnect mechanism controls an actuator of the disconnect mechanism according to the control method of the present invention is shown;

[0020] Figure 4 A structural schematic diagram of a dual-motor auxiliary drive system is shown, showing a control method of the dual-motor auxiliary drive system according to the present invention.

[0021] The above drawings include the following reference numerals:

[0022] 10. Left reducer;

[0023] 20. Right reducer;

[0024] 30. Left disconnect mechanism;

[0025] 40. Right disconnect mechanism;

[0026] 50. Left drive shaft;

[0027] 60. Right drive shaft;

[0028] 71, left motor; 72, right motor;

[0029] 81. Left tire; 82. Right tire. DETAILED DESCRIPTION

[0030] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0031] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0032] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way are interchangeable where appropriate, so that the embodiments of the present application described herein can, for example, be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0033] Now, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in a variety of different forms and should not be interpreted as being limited to the embodiments described herein. It should be understood that these embodiments are provided to make the disclosure of this application thorough and complete, and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art. In the accompanying drawings, for the sake of clarity, the thickness of layers and regions may be exaggerated, and the same reference numerals are used to represent the same devices, and thus their descriptions will be omitted.

[0034] Combine Figures 1 to 4 As shown, according to a specific embodiment of the present invention, a control method for a dual-motor auxiliary drive system is provided.

[0035] Specifically, if Figure 1 As shown, the control method of the dual-motor auxiliary drive system includes: receiving a request instruction, wherein the request instruction is used to request the actuator of the dual-motor auxiliary system that controls the target vehicle to perform a target action, and the target action includes one of a synchronous disconnection action and a synchronous connection action; detecting a first current action of the actuator, and determining whether the first current action of the actuator is consistent with the target action to be executed; generating a torque-speed adjustment instruction when it is determined that the first current action of the actuator is inconsistent with the target action to be executed, wherein the torque-speed adjustment instruction is used to adjust the torque and speed of each motor in the dual-motor auxiliary system; and responding to the request instruction when it is determined based on the torque-speed adjustment instruction that the torque and speed meet preset conditions.

[0036] In this embodiment, the target action is a synchronous disconnection action or a synchronous combination action. First, it is detected whether the first current action of the actuator of the dual-motor auxiliary system of the target vehicle is consistent with the target action. When the first current action is consistent with the target action, the operation is terminated. When the first current action is inconsistent with the target action, a torque-speed adjustment instruction is generated. According to the torque-speed adjustment instruction, the motor in the dual-motor auxiliary drive system adjusts the torque and speed to prepare for executing the target action. When the torque and speed of the motor in the dual-motor auxiliary system meet the conditions, a request instruction is responded to. The request instruction is used to request the actuator of the dual-motor auxiliary system of the target vehicle to perform a synchronous disconnection action or a synchronous combination action, thereby realizing the synchronous disconnection or synchronous combination operation of the dual motors to improve the synchronization of the dual motors and thereby improve the stability of the vehicle.

[0037] Furthermore, the control method further includes: after responding to the request instruction, detecting within a preset time period whether the current action of the actuator has successfully switched to the target action of the synchronous disconnection action; if it is determined that the current action has not successfully switched to the synchronous disconnection action, generating a synchronous disconnection instruction, the synchronous disconnection instruction being used to control each motor to perform an action of increasing oscillation torque; obtaining a second current action of the actuator after responding to the synchronous disconnection instruction, and if it is determined that the second current action of the actuator is inconsistent with the target action, generating a synchronous disconnection instruction again; detecting the number of times the synchronous disconnection instruction has been generated, and if the number of synchronous disconnection instructions reaches a preset value, generating a fault alarm message, wherein the fault alarm message includes at least one of text information and voiceprint information. Specifically, after responding to the request instruction to request the actuator of the dual-motor auxiliary system of the target vehicle to perform the synchronous disconnection action, detecting within a preset time period whether the current action of the actuator has switched to the synchronous disconnection action, where the preset time period is 500ms; if the current action of the actuator has not switched to the synchronous disconnection action within 500ms, a synchronous disconnection instruction is generated; if the current action of the actuator has switched to the synchronous disconnection action within 500ms, the operation is terminated. After executing the synchronous disconnect command, an oscillating torque is applied to each motor. This prevents vehicle instability when the vehicle controller receives the synchronous disconnect command and synchronizes the dual-motor actuators, ensuring the stability of the dual motors. After the oscillating torque is applied to each motor and the synchronous disconnect command is executed a second time, if synchronous disconnection is still not possible, the motor torque is reduced to zero and a fault is reported to the instrument panel.

[0038] Furthermore, if it is determined that the first current action of the actuator is inconsistent with the target action to be executed, generating a torque-speed adjustment command includes: collecting vehicle condition information of the target vehicle, where the vehicle condition information includes at least one of the following: accelerator pedal opening, wheel speed, vehicle driving mode, vehicle speed, output torque of each motor in the motor-assisted drive system, steering wheel angle, current operation of the actuator, brake pedal information, and gear position information; and generating the torque-speed adjustment command based on the vehicle condition information. After collecting the target vehicle condition information, the vehicle controller calculates the target action of the vehicle based on the collected vehicle condition information, according to control logic and calibration parameters. The target action is the required vehicle action state, including a synchronization disconnection state and a synchronization engagement state.

[0039] Furthermore, the control method further includes: after responding to the request instruction, detecting within a preset time period whether the current action of the actuator has successfully switched to the synchronous combination action in the target action; and generating a synchronous combination instruction if it is determined that the current action has not successfully switched to the synchronous combination action. Specifically, after responding to the request instruction requesting the actuator of the dual-motor auxiliary system of the target vehicle to perform the synchronous combination action, detecting within a preset time period whether the current action of the actuator has switched to the synchronous combination action, where the preset time period is 500ms, if the current action of the actuator has not switched to the synchronous combination action within 500ms, generating a synchronous combination instruction; if the current action of the actuator has switched to the synchronous combination action within 500ms, then terminating the operation.

[0040] Furthermore, the control method further includes: confirming that the request command is for requesting the actuator of the dual-motor assist system of the target vehicle to perform a target action of simultaneous coupling, adjusting the rotational speed to the same speed as the target vehicle based on the torque-speed adjustment command and the synchronous coupling command, while controlling the torque output value to zero, and then responding to the request command. Torque is the force that causes an object to rotate. Engine torque refers to the torque output from the engine's crankshaft. The greater the torque, the greater the engine's power output, the faster the crankshaft speed changes, and the better the vehicle's gradeability, starting speed, and acceleration.

[0041] Furthermore, the control method also includes: detecting the third current action of the actuator, and generating a synchronous disconnection instruction when it is determined that the third current action of the actuator does not achieve the synchronous connection action, the synchronous disconnection instruction being used to control the actuator to perform the simultaneous disconnection action.

[0042] According to another aspect of the present invention, a control device for a dual-motor auxiliary drive system is provided. The control device adopts the above-mentioned control method for the dual-motor auxiliary drive system for control.

[0043] The control device of the dual-motor auxiliary drive system includes: a receiving unit, a detecting unit, a determining unit, and a responding unit. The receiving unit is configured to receive a request instruction, wherein the request instruction is configured to request an actuator of the dual-motor auxiliary system of a target vehicle to perform a target action, wherein the target action includes one of a synchronous disconnection action and a synchronous engagement action; the detecting unit is configured to detect a first current action of the actuator and determine whether the first current action of the actuator is consistent with the target action to be performed; the determining unit is configured to generate a torque-speed adjustment instruction if it is determined that the first current action of the actuator is inconsistent with the target action to be performed, wherein the torque-speed adjustment instruction is used to adjust the torque and speed of each motor in the dual-motor auxiliary system; and the responding unit is configured to respond to the request instruction if it is determined, based on the torque-speed adjustment instruction, that the torque and speed meet preset conditions.

[0044] Specifically, the control method of the dual-motor auxiliary drive system includes: accepting a request instruction, wherein the request instruction is used to request the actuator of the dual-motor auxiliary system that controls the target vehicle to perform a target action, and the target action includes one of a synchronous disconnection action and a synchronous connection action; detecting the first current action of the actuator, and determining whether the first current action of the actuator is consistent with the target action to be executed; generating a torque-speed adjustment instruction when it is determined that the first current action of the actuator is inconsistent with the target action to be executed, wherein the torque-speed adjustment instruction is used to adjust the torque and speed of each motor in the dual-motor auxiliary system; and responding to the request instruction when it is determined based on the torque-speed adjustment instruction that the torque and speed meet preset conditions. The control method further includes: after responding to the request command, detecting within a preset time period whether the current action of the actuator has successfully switched to the target action of the synchronous disconnection action; if it is determined that the current action has not successfully switched to the synchronous disconnection action, generating a synchronous disconnection instruction, the synchronous disconnection instruction being used to control each motor to perform an action of increasing oscillation torque; obtaining a second current action of the actuator after responding to the synchronous disconnection instruction, and if it is determined that the second current action of the actuator is inconsistent with the target action, generating a synchronous disconnection instruction again; detecting the number of times the synchronous disconnection instruction has been generated, and if the number of synchronous disconnection instructions reaches a preset value, generating a fault alarm message, wherein the fault alarm message includes at least one of text information and voiceprint information. If it is determined that the first current action of the actuator is inconsistent with the target action to be executed, generating a torque-speed adjustment instruction, including: collecting vehicle condition information of the target vehicle, wherein the vehicle condition information includes at least one of the following: accelerator pedal opening, wheel speed, vehicle driving mode, vehicle speed, output torque of each motor in the motor-assisted drive system, steering wheel angle, current operation of the actuator, brake pedal information, and gear position information; and generating the torque-speed adjustment instruction based on the vehicle condition information. The control method further includes: after responding to the request instruction, detecting within a preset time period whether the current action of the actuator has successfully switched to the synchronous combination action in the target action; if it is determined that the current action has not successfully switched to the synchronous combination action, generating a synchronous combination instruction, the synchronous combination instruction is used to control the speed to be adjusted to the same speed as the target vehicle. The control method further includes: confirming that the request instruction is used to request the actuator of the dual-motor assist system of the target vehicle to perform the target action as the simultaneous combination action, adjusting the speed to the same speed as the target vehicle based on the torque-speed adjustment instruction and the synchronous combination instruction, while controlling the output torque value to 0, and then responding to the request instruction. The control method further includes: detecting a third current action of the actuator, and if it is determined that the third current action of the actuator has not achieved the synchronous combination action, generating a synchronous disconnection instruction, the synchronous disconnection instruction is used to control the actuator to perform the simultaneous disconnection action.

[0045] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, the device containing the computer-readable storage medium is controlled to execute the aforementioned control method for a dual-motor assisted drive system. The control method comprises: receiving a request instruction, wherein the request instruction is used to request an actuator of the dual-motor assisted system of a target vehicle to execute a target action, wherein the target action includes one of a synchronous disconnection action and a synchronous engagement action; detecting a first current action of the actuator and determining whether the first current action of the actuator is consistent with the target action to be executed; if it is determined that the first current action of the actuator is inconsistent with the target action to be executed, generating a torque-speed adjustment instruction, wherein the torque-speed adjustment instruction is used to adjust the torque and speed of each motor in the dual-motor assisted system; and responding to the request instruction if it is determined, based on the torque-speed adjustment instruction, that the torque and speed meet preset conditions.

[0046] According to another aspect of the present invention, a processor is provided, the processor being used to run a program, wherein the program, when running, executes the control method of the dual-motor auxiliary drive system described above. A processor is a functional unit that interprets and executes instructions, also known as a central processing unit or CPU. The control method of the dual-motor auxiliary drive system comprises: receiving a request instruction, wherein the request instruction is used to request an actuator of the dual-motor auxiliary system that controls a target vehicle to perform a target action, wherein the target action includes one of a synchronous disconnection action and a synchronous engagement action; detecting a first current action of the actuator and determining whether the first current action of the actuator is consistent with the target action to be performed; generating a torque-speed adjustment instruction when it is determined that the first current action of the actuator is inconsistent with the target action to be performed, wherein the torque-speed adjustment instruction is used to adjust the torque and speed of each motor in the dual-motor auxiliary system; and responding to the request instruction when it is determined based on the torque-speed adjustment instruction that the torque and speed meet preset conditions. First, it is detected whether the first current action of the actuator of the dual-motor auxiliary system of the target vehicle is consistent with the target action. When the first current action is consistent with the target action, the operation is terminated. When the first current action is inconsistent with the target action, a torque-speed adjustment instruction is generated. According to the torque-speed adjustment instruction, the motor in the dual-motor auxiliary drive system adjusts the torque and speed to prepare for executing the target action. When the torque and speed of the motor in the dual-motor auxiliary system meet the conditions, a request instruction is responded to. The request instruction is used to request the actuator of the dual-motor auxiliary system of the target vehicle to perform a synchronous disconnection action or a synchronous connection action, thereby realizing the operation of synchronous disconnection or synchronous connection of the dual motors to improve the synchronization of the dual motors and thereby improve the stability of the vehicle.

[0047] According to another aspect of the present invention, a vehicle is provided, wherein the vehicle is controlled using the control method of the dual-motor auxiliary drive system described above. The control method includes: receiving a request instruction, wherein the request instruction is used to request an actuator of the dual-motor auxiliary system of the target vehicle to perform a target action, wherein the target action includes one of a synchronous disconnection action and a synchronous engagement action; detecting a first current action of the actuator and determining whether the first current action of the actuator is consistent with the target action to be performed; if it is determined that the first current action of the actuator is inconsistent with the target action to be performed, generating a torque-speed adjustment instruction, wherein the torque-speed adjustment instruction is used to adjust the torque and speed of each motor in the dual-motor auxiliary system; and responding to the request instruction if it is determined based on the torque-speed adjustment instruction that the torque and speed meet preset conditions.

[0048] The target action is a synchronous disconnection action or a synchronous combination action. First, it is detected whether the first current action of the actuator of the dual-motor auxiliary system of the target vehicle is consistent with the target action. When the first current action is consistent with the target action, the operation is terminated. When the first current action is inconsistent with the target action, a torque-speed adjustment instruction is generated. According to the torque-speed adjustment instruction, the motor in the dual-motor auxiliary drive system adjusts the torque and speed to prepare for executing the target action. When the torque and speed of the motor in the dual-motor auxiliary system meet the conditions, a request instruction is responded to. The request instruction is used to request the actuator of the dual-motor auxiliary system of the target vehicle to perform a synchronous disconnection action or a synchronous combination action, thereby realizing the synchronous disconnection or synchronous combination operation of the dual motors to improve the synchronization of the dual motors, thereby improving the stability of the vehicle.

[0049] In another embodiment of the present application, the control method includes: the vehicle controller calculates the demand state based on the input signal; determines whether the dual-disconnect system state is the demand state, and if the dual-disconnect system state is the demand state, ends the operation; if the dual-disconnect system is not in the demand state, the vehicle controller issues a demand instruction to adjust the dual-disconnect system state.

[0050] Furthermore, if the dual disconnect system does not match the required state, the vehicle controller issues a required command. The steps of adjusting the dual disconnect system state include: entering a motor speed control program to adjust the speed of the dual disconnect system motor; performing a status check on the dual disconnect mechanism of the dual disconnect system; and determining whether the dual disconnect mechanism is in the required state within a preset time. If the dual disconnect mechanism reaches the required state within the preset time, the operation is terminated. If the dual disconnect mechanism does not reach the required state within the preset time, the synchronization control program is entered. The required state includes a disconnected state and an engaged state. The step of determining whether the dual disconnect system is in the required state includes determining whether the dual disconnect system is in the disconnected state and determining whether the dual disconnect system is in the engaged state.

[0051] Furthermore, when the demand state is the disconnected state, the synchronization control method of the double-disconnection system includes: judging whether the state of the double-disconnection system is the disconnected state; if the state of the double-disconnection system is the disconnected state, ending the operation; if the double-disconnection system is not in the disconnected state, the vehicle controller issues a disconnection instruction, and controls the motor to enter the motor speed regulation program to regulate the speed of the motor of the double-disconnection system; performing a state inspection on the double-sided disconnection mechanism of the double-disconnection system; judging whether the state of the double-sided disconnection mechanism is the disconnected state within a preset time; if the double-sided disconnection mechanism is synchronously disconnected within the preset time, ending the operation; if the double-sided disconnection mechanism is not synchronously disconnected within the preset time, entering the synchronous disconnection control program. When the demand state is the engaged state, the synchronization control method of the double-disconnect system includes: judging whether the state of the double-disconnect system is the engaged state; if the state of the double-disconnect system is the engaged state, ending the operation; if the double-disconnect system is not in the engaged state, the vehicle controller issues an engagement indication, and controls the motor to enter the motor speed regulation program to regulate the speed of the motor of the double-disconnect system; performing a state inspection on the double-sided disconnect mechanism of the double-disconnect system; judging whether the state of the double-sided disconnect mechanism is the engaged state within a preset time; if the double-sided disconnect mechanism is synchronously engaged within the preset time, ending the operation; if the double-sided disconnect mechanism is not synchronously engaged within the preset time, entering the synchronous engagement control program.

[0052] Furthermore, after entering the synchronous disconnection procedure, the motor is subjected to increased oscillating torque and the synchronous disconnection procedure is executed again. If the double-side disconnection mechanism does not disconnect synchronously, the motor is shut down and a fault is reported. After entering the synchronous engagement procedure, the motor speed is adjusted to synchronize with the vehicle speed while maintaining the output torque at zero. The synchronous engagement procedure is executed again. If the double-side disconnection mechanism does not engage synchronously, the synchronous disconnection procedure is executed in reverse to disconnect the double-side disconnection mechanism synchronously and a fault is reported.

[0053] Furthermore, the input signal includes accelerator pedal opening, wheel speed, vehicle driving mode, vehicle speed, output torque of the drive motor, steering wheel angle, bilateral disconnect mechanism status, brake pedal signal or gear position signal.

[0054] Furthermore, the double-sided disconnection mechanism determines the disconnection state or the connection state according to the input signal through the vehicle controller, and issues a disconnection instruction or a connection instruction. The double-sided disconnection mechanism is driven to execute the disconnection instruction or the connection instruction through other controllers of the vehicle or its own small controller. The status of the double-sided disconnection mechanism is monitored in real time through its own sensor to generate status information, and the status information is fed back to the vehicle controller.

[0055] In another embodiment of the present application, Figure 4As shown, a single drive axle utilizes two motors, two speed reducers, and two drive shafts. Each power system is connected to one tire, and the final driving force of the two tires is independently vector-controlled by the two power systems. A disconnect mechanism is added between the speed reducers and the drive shafts on both sides. This allows for the connection and disconnection of the transmission chains on both sides, saving 5%-10% energy under comprehensive operating conditions. Specifically, the left motor 71 is connected to the left speed reducer 10, which is connected to the left drive shaft 50, which is connected to the left tire 81. A left disconnect mechanism 30 is provided between the left drive shaft 50 and the left speed reducer 10. The right motor 72 is connected to the right speed reducer 20, which is connected to the right drive shaft 60, which is connected to the right tire 82. A right disconnect mechanism 40 is provided between the right drive shaft 60 and the right speed reducer 20. The disconnect mechanism can be located between the motor and the speed reducer, between the speed reducer's reduction gear and the main reducer, or between the main reducer and the drive shaft.

[0056] like Figure 2 、 Figure 3 As shown, Figure 2 This is a schematic diagram of the control system in which the vehicle controller directly drives the actuator of the disconnect mechanism, where the actuator is a motor or electromagnetic coil. Figure 3 This is a schematic diagram of the control system for the disconnect mechanism's built-in small controller to control the actuator of the disconnect mechanism. The control logic of the disconnect mechanism is that the vehicle controller determines the demand for the disconnect mechanism (need to disconnect or connect) based on the input signal of the whole vehicle, and issues the demand instruction in real time. After receiving the instruction, the drive module determines whether to drive the disconnection or connection action based on the current state of the disconnect mechanism. Since the double-sided disconnect mechanism has extremely high requirements for state synchronization, the state of the double-sided disconnect mechanism needs to be verified in real time. Among them, the disconnect mechanism is controlled at the vehicle level through the vehicle controller, that is, the whole vehicle determines whether to disconnect or connect based on various parameters, generates disconnection and connection instructions, and drives the actuator to achieve disconnection or connection through other controllers of the whole vehicle or its own small controller, and monitors the connection and disconnection state of the disconnect mechanism in real time through its own sensor, and feeds back the state signal to the vehicle controller.

[0057] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0058] In addition to the above, it should be noted that references to "one embodiment," "another embodiment," "an embodiment," and the like in this specification refer to specific features, structures, or characteristics described in conjunction with that embodiment as included in at least one embodiment generally described in this application. The appearance of the same expression in multiple places in the specification does not necessarily refer to the same embodiment. Furthermore, when a specific feature, structure, or characteristic is described in conjunction with any embodiment, it is intended that such feature, structure, or characteristic, when implemented in conjunction with other embodiments, also falls within the scope of the present invention.

[0059] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0060] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A control method for a dual-motor auxiliary drive system, characterized in that: The control method includes: Accepting a request instruction, wherein the request instruction is used to request an actuator controlling a dual-motor assist system of a target vehicle to perform a target action, wherein the target action includes one of a synchronous disconnection action and a synchronous engagement action; detecting a first current action of the actuator to determine whether the first current action of the actuator is consistent with the target action to be executed; generating a torque-speed adjustment instruction when it is determined that the first current action of the actuator is inconsistent with the target action to be executed, wherein the torque-speed adjustment instruction is used to adjust the torque and speed of each motor in the dual-motor auxiliary system; responding to the request instruction when it is determined based on the torque-speed adjustment instruction that the torque and the speed meet a preset condition; A single drive axle uses two motors, two reducers, and two drive shafts. Each power system is connected to one tire. The final driving force of the tires on both sides is independently vector-controlled by the two power systems. A disconnect mechanism is added between the reducer and the drive shaft, or between the motor and the reducer, or between the reduction gear of the reducer and the main reducer, or between the main reducer and the drive shaft.

2. The control method according to claim 1, characterized in that: The control method further includes: After responding to the request instruction, detecting whether the current action of the actuator is successfully switched to the synchronous disconnection action in the target action within a preset time period; If it is determined that the current action has not been successfully switched to the synchronous disconnection action, generating a synchronous disconnection instruction, wherein the synchronous disconnection instruction is used to control each of the motors to perform an action of increasing the oscillation torque; acquiring a second current action of the actuator after responding to the synchronous disconnection instruction, and generating the synchronous disconnection instruction again when it is determined that the second current action of the actuator is inconsistent with the target action; The number of times the synchronization disconnection instruction is generated is detected, and when the number of times the synchronization disconnection instruction is generated reaches a preset value, a fault alarm message is generated, wherein the fault alarm message includes at least one of text information and voiceprint information.

3. The control method according to claim 1 or 2, characterized in that: When it is determined that the first current action of the actuator is inconsistent with the target action to be executed, generating a torque-speed adjustment instruction includes: Collecting vehicle condition information of the target vehicle, wherein the vehicle condition information includes at least one of the following: accelerator pedal opening, wheel speed, vehicle driving mode, vehicle speed, output torque of each motor in the motor-assisted drive system, steering wheel angle, current operation of the actuator, brake pedal information, and gear position information; Based on the vehicle condition information, the torque-speed adjustment instruction is generated.

4. The control method according to claim 1, wherein: The control method further includes: After responding to the request instruction, detecting whether the current action of the actuator is successfully switched to the synchronous combination action in the target action within a preset time period; In the case where it is determined that the current action has not been successfully switched to the synchronous combination action, a synchronous combination instruction is generated, where the synchronous combination instruction is used to control the rotation speed to be adjusted to be the same as the speed of the target vehicle.

5. The control method according to claim 4, characterized in that: The control method further includes: When it is confirmed that the request instruction is used to request the actuator of the dual-motor assist system of the target vehicle to perform a target action as a simultaneous combination action, the speed is adjusted to the same as the speed of the target vehicle based on the torque-speed adjustment instruction and the synchronous combination instruction, and the output value of the torque is controlled to be 0, and then the request instruction is responded to.

6. The control method according to claim 5, characterized in that: The control method further includes: The third current action of the actuator is detected, and when it is determined that the third current action of the actuator does not achieve a synchronous engagement action, a synchronous disconnection instruction is generated, wherein the synchronous disconnection instruction is used to control the actuator to perform the synchronous disconnection action.

7. A control device for a dual-motor auxiliary drive system, characterized in that: include: a receiving unit, configured to receive a request instruction, wherein the request instruction is used to request an actuator controlling a dual-motor assist system of a target vehicle to perform a target action, wherein the target action includes one of a synchronous disconnection action and a synchronous engagement action; a detection unit, configured to detect a first current action of the actuator and determine whether the first current action of the actuator is consistent with the target action to be executed; a determining unit, configured to generate a torque-speed adjustment instruction when determining that the first current action of the actuator is inconsistent with the target action to be executed, wherein the torque-speed adjustment instruction is used to adjust the torque and speed of each motor in the dual-motor assist system; A response unit is used to respond to the request instruction when it is determined based on the torque-speed regulation instruction that the torque and the speed meet the preset conditions; a single drive axle adopts two motors, two reducers, and two drive shafts, each power system is connected to one side of the tire, and the final driving force of the tires on both sides is independently vector-controlled by the two power systems, a disconnection mechanism is added between the reducer and the drive shaft, or a disconnection mechanism is added between the motor and the reducer, or a disconnection mechanism is added between the reduction gear of the reducer and the main reducer, or a disconnection mechanism is added between the main reducer and the drive shaft.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the control method of the dual-motor assisted drive system according to any one of claims 1 to 6.

9. A processor, characterized in that: The processor is used to run a program, wherein the program, when running, executes the control method of the dual-motor auxiliary drive system according to any one of claims 1 to 6.

10. A vehicle, characterized in that: The vehicle is controlled using the control method of the dual-motor auxiliary drive system described in any one of claims 1 to 6.

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