A method and system for motor torque control in a multi-motor driven automobile

Abstract

This invention provides a method and system for controlling the motor torque of a multi-motor driven vehicle. The method includes: calculating the difference amplitude of the target driving torque of each motor; obtaining the time required for each motor to follow the steady-state target driving torque using the difference amplitude of the target driving torque of each motor and a threshold value for the rate of change of the overall vehicle driving torque; calculating the synchronous coordination change time of the motors; subsequently calculating the available rate of change of the driving torque of each motor, the amount of torque change, and the instantaneous target driving torque of each motor at the current moment; and finally adjusting the motor torque of the multi-motor driven vehicle based on the instantaneous target driving torque of each motor at the current moment. This invention can control the instantaneous target driving torque of each motor to be equal to the motor torque of the multi-motor driven vehicle, enabling each motor to simultaneously reach the preset target torque, thereby ensuring the consistency of the instantaneous expected torque change of each motor at the current moment and improving vehicle driving safety.

Description

Technical Field

[0001] This invention relates to the field of automotive powertrain technology, specifically to a motor torque control method and system for a multi-motor driven vehicle. Background Technology

[0002] Multi-motor drive vehicles are one of the main trends in the development of electric vehicles. However, the torque of each motor in a multi-motor drive vehicle needs to be controlled independently. Therefore, the torque control of the drive motors in multi-motor drive vehicles is more complex and prone to differences between the torque of each motor and the target torque. This results in the motors not being able to reach the preset target torque at the same time during the torque change process, thus causing the vehicle to be unstable during the dynamic torque adjustment process.

[0003] Therefore, ensuring stable vehicle operation during dynamic torque adjustment has become an urgent problem for researchers in the field. Summary of the Invention

[0004] In view of this, it is necessary to provide a motor torque control method and system for a multi-motor driven vehicle, so as to ensure that each motor can simultaneously reach the preset target torque during the torque change process, thereby ensuring the stable driving of the vehicle.

[0005] To achieve the above objectives, the present invention provides a motor torque control method for a multi-motor driven vehicle, comprising:

[0006] The difference amplitude of the driving target torque of each motor is calculated based on the steady-state driving target torque of each motor and the instantaneous driving target torque of the previous moment.

[0007] The time required for each motor to follow the steady-state drive target torque is calculated based on the difference amplitude of the drive target torque of each motor and the threshold of the change rate of the vehicle drive torque.

[0008] The synchronous coordination change time of the motors is calculated based on the time required for each motor to follow the steady-state drive target torque.

[0009] The available rate of change of driving torque for each motor is calculated based on the difference in the target driving torque of each motor and the synchronous coordination change time of the motor.

[0010] The torque change of each motor is calculated based on the available rate of change of torque of each motor and the task execution cycle.

[0011] The instantaneous driving target torque of each motor is calculated based on the torque change of each motor, the steady-state driving target torque of each motor, and the instantaneous driving target torque of the previous moment.

[0012] The motor torque of the multi-motor driven vehicle is adjusted according to the instantaneous drive target torque of each motor at the current moment.

[0013] In one possible implementation, the formula for calculating the difference in the driving target torque of each motor based on the steady-state driving target torque of each motor and the instantaneous driving target torque of the previous moment is as follows:

[0014] ΔT i =|T i -T(K-1) i |;

[0015] Where, ΔT i T represents the magnitude of the difference in driving torque for the i-th motor. i Let T(K-1) represent the steady-state target driving torque of the i-th motor. i This represents the instantaneous driving target torque of the i-th motor at the previous moment.

[0016] In one possible implementation, the formula for calculating the time required for each motor to follow the steady-state target drive torque, based on the difference amplitude of the target drive torque of each motor and the threshold of the rate of change of the overall vehicle drive torque, is as follows:

[0017]

[0018] Among them, time i K represents the time required for the i-th motor to follow the steady-state drive target torque. max This represents the threshold for the rate of change of the vehicle's driving torque.

[0019] In one possible implementation, the formula for calculating the motor synchronization and coordination change time based on the time required for each motor to follow the steady-state drive target torque is as follows:

[0020] time max =max 1≤i≤n time i ;

[0021] Among them, time max This indicates the time for synchronous and coordinated changes in motor operation; `max` indicates taking the maximum value. max ≥time i .

[0022] In one possible implementation, the formula for calculating the available rate of change of the driving torque of each motor, based on the magnitude of the difference in the target driving torque of each motor and the synchronous coordination change time of the motors, is as follows:

[0023]

[0024] Among them, K i This represents the available rate of change of the driving torque of the i-th motor.

[0025] In one possible implementation, the formula for calculating the torque change of each motor based on the available rate of change of torque of each motor and the task execution cycle is as follows:

[0026] ΔT1 i =K i *Δtime;

[0027] Wherein, ΔT1 i Δtime represents the torque change of the i-th motor, and Δtime represents the task execution cycle.

[0028] In one possible implementation, the formula for calculating the instantaneous driving target torque of each motor at the current moment, based on the torque change of each motor, the steady-state driving target torque of each motor, and the instantaneous driving target torque of the previous moment, is as follows:

[0029]

[0030] Where, T(K) i This represents the instantaneous driving target torque of the i-th motor at the current moment.

[0031] In one possible implementation, before adjusting the motor torque of the multi-motor driven vehicle based on the instantaneous drive target torque of each motor at the current moment, the following steps are also included:

[0032] After calculating the instantaneous driving target torque of each motor at the current moment, the instantaneous driving target torque of each motor at the current moment is updated to the instantaneous driving target torque of the previous moment.

[0033] Repeatedly perform the update operation to make the instantaneous drive target torque of each motor equal to the steady-state drive target torque of each motor.

[0034] In one possible implementation, the formula for calculating the time required for the instantaneous target torque of each motor to change to the steady-state target torque of each motor is as follows:

[0035]

[0036] To achieve the above objectives, the present invention also provides a motor torque control system for a multi-motor driven automobile, comprising:

[0037] The difference amplitude calculation module is used to calculate the difference amplitude of the driving target torque of each motor based on the steady-state driving target torque of each motor and the instantaneous driving target torque of the previous moment.

[0038] The time required to drive the target is calculated by the module, which calculates the time required for each motor to follow the steady-state drive target torque based on the difference amplitude of the drive target torque of each motor and the threshold of the change rate of the overall vehicle drive torque.

[0039] The synchronous coordination change time calculation module is used to calculate the synchronous coordination change time of the motors based on the time required for each motor to follow the steady-state drive target torque.

[0040] The available rate of change calculation module is used to calculate the available rate of change of the driving torque of each motor based on the difference amplitude of the driving target torque of each motor and the synchronous coordination change time of the motor.

[0041] The torque change calculation module is used to calculate the torque change of each motor based on the available torque change rate of each motor and the task execution cycle.

[0042] The instantaneous drive target torque calculation module is used to calculate the instantaneous drive target torque of each motor at the current moment based on the torque change of each motor, the steady-state drive target torque of each motor, and the instantaneous drive target torque of the previous moment.

[0043] The execution module is used to adjust the motor torque of the multi-motor driven vehicle according to the instantaneous drive target torque of each motor at the current moment.

[0044] The beneficial effects of the above embodiments are as follows: After calculating the difference amplitude of the target driving torque of each motor; the time required for each motor to follow the steady-state target driving torque is obtained by using the difference amplitude of the target driving torque of each motor and the threshold of the rate of change of the overall vehicle driving torque; then the synchronous coordination change time of the motors is calculated; subsequently, the available rate of change of driving torque, the amount of torque change, and the instantaneous target driving torque of each motor at the current moment are calculated sequentially; finally, the motor torque of the multi-motor driven vehicle is adjusted according to the instantaneous target driving torque of each motor at the current moment. This invention can control the instantaneous target driving torque of each motor to be equal to the motor torque of the multi-motor driven vehicle, so that each motor simultaneously reaches the preset target torque, thereby ensuring the consistency of the instantaneous expected torque change of each motor at the current moment and improving the safety of vehicle operation. Attached Figure Description

[0045] 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.

[0046] Figure 1 A schematic flowchart illustrating an embodiment of a motor torque control method for a multi-motor driven automobile provided by the present invention;

[0047] Figure 2 This is a schematic diagram of an embodiment of a motor torque control system for a multi-motor driven automobile provided by the present invention. Detailed Implementation

[0048] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0049] Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor systems and / or microcontroller systems.

[0050] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0051] Figure 1 This is a flowchart illustrating an embodiment of a motor torque control method for a multi-motor driven automobile provided by the present invention.

[0052] Reference Figure 1 This invention provides a motor torque control method for a multi-motor driven automobile, comprising:

[0053] S101. Calculate the difference amplitude of the driving target torque of each motor based on the steady-state driving target torque of each motor and the instantaneous driving target torque of the previous moment.

[0054] S102. Calculate the time required for each motor to follow the steady-state drive target torque based on the difference amplitude of the drive target torque of each motor and the threshold of the change rate of the vehicle drive torque.

[0055] S103. Calculate the motor synchronization and coordination change time based on the time required for each motor to follow the steady-state drive target torque.

[0056] S104. Calculate the available rate of change of driving torque for each motor based on the difference amplitude of the driving target torque of each motor and the synchronous coordination change time of the motor.

[0057] S105. Calculate the torque change of each motor based on the available torque change rate of each motor and the task execution cycle.

[0058] S106. Calculate the instantaneous driving target torque of each motor at the current moment based on the torque change of each motor, the steady-state driving target torque of each motor, and the instantaneous driving target torque of the previous moment.

[0059] S107. Adjust the motor torque of the multi-motor driven vehicle according to the instantaneous drive target torque of each motor at the current moment.

[0060] The beneficial effects of the above embodiments are as follows: After calculating the difference amplitude of the target driving torque of each motor; the time required for each motor to follow the steady-state target driving torque is obtained by using the difference amplitude of the target driving torque of each motor and the threshold of the rate of change of the overall vehicle driving torque; then the synchronous coordination change time of the motors is calculated; subsequently, the available rate of change of driving torque, the amount of torque change, and the instantaneous target driving torque of each motor at the current moment are calculated sequentially; finally, the motor torque of the multi-motor driven vehicle is adjusted according to the instantaneous target driving torque of each motor at the current moment. This invention can control the instantaneous target driving torque of each motor to be equal to the motor torque of the multi-motor driven vehicle, so that each motor simultaneously reaches the preset target torque, thereby ensuring the consistency of the instantaneous expected torque change of each motor at the current moment and improving the safety of vehicle operation.

[0061] In one embodiment, the formula for calculating the magnitude of the difference in the target driving torque of each motor in step S101 is as follows:

[0062] ΔT i =|T i -T(K-1) i |;

[0063] Where, ΔT i T represents the magnitude of the difference in driving torque for the i-th motor. i Let T(K-1) represent the steady-state target driving torque of the i-th motor. i It represents the instantaneous driving target torque of the i-th motor at the previous moment, that is, the difference in driving target torque between each motor is equal to the absolute value of the difference between its steady-state driving target torque and its instantaneous driving target torque at the previous moment.

[0064] Preferably, the formula for calculating the time required for each motor to follow the steady-state drive target torque in step S102 is as follows:

[0065]

[0066] Among them, time i K represents the time required for the i-th motor to follow the steady-state drive target torque. max This represents the threshold for the rate of change of the vehicle's driving torque, which is the time required for each motor to follow the steady-state driving target torque. This time is equal to the quotient of the difference in the driving target torque of each motor and the maximum allowable rate of change of the driving torque of the motor.

[0067] Furthermore, K max The calculation is as follows:

[0068] K max =max 1≤i≤n K(i) max ;

[0069] Where: K(i) max —The maximum permissible rate of change of the driving torque of the i-th motor is obtained through bench testing and calibration. Exceeding this value during motor operation may result in motor damage. n represents the total number of motors.

[0070] Upon entering a place, one can also learn:

[0071] K max ≤K(i) max ;

[0072] After conversion, we can obtain:

[0073]

[0074] In one embodiment, the formula for calculating the motor synchronization coordination change time in step S103 is as follows:

[0075] time max =max 1≤i≤n time i ;

[0076] Among them, time max This indicates the time for synchronous and coordinated changes in motor operation; `max` indicates taking the maximum value. max ≥time i That is, the time for the motors to change synchronously and in coordination is equal to the maximum value among the times required for all motors to follow the steady-state drive target torque.

[0077] Furthermore, the formula for calculating the available rate of change of the driving torque of each motor in step S104 is as follows:

[0078]

[0079] Among them, K i This represents the available rate of change of the driving torque of the i-th motor. That is, the available rate of change of the driving torque of each motor is equal to the quotient of the difference in the driving target torque of each motor and the time of synchronous and coordinated change of the motor.

[0080] Analysis reveals that: K i ≤K max ≤K(i) maxBy controlling the available rate of change of the driving torque of each motor to always be less than or equal to the maximum allowable rate of change of the driving torque of each motor, the system ensures that the available rate of change of the driving torque of the motor will not exceed its capacity range, thus avoiding the risk of motor damage and reduced service life and improving the reliability of the system.

[0081] In one embodiment, the formula for calculating the torque change of each motor in step S105 is as follows:

[0082] ΔT1 i =K i *Δtime;

[0083] Wherein, ΔT1 i Δtime represents the torque change of the i-th motor, and Δtime represents the task execution cycle. That is, the torque change of each motor is equal to the product of the available rate of change of the driving torque of each motor and the task execution cycle.

[0084] Furthermore, the formula for calculating the instantaneous drive target torque of each motor at the current moment in step S106 is as follows:

[0085]

[0086] Where, T(K) i Let represent the instantaneous driving target torque of the i-th motor at the current moment. That is, if the difference between the steady-state driving target torque of each motor and its instantaneous driving target torque at the previous moment is greater than or equal to the torque change of the motor, then the torque change of the motor is equal to the instantaneous driving target torque at the previous moment plus the torque change of the motor; if the difference between the steady-state driving target torque of each motor and its instantaneous driving target torque at the previous moment is less than or equal to the negative of the torque change of the motor, then the torque change of the motor is equal to the instantaneous driving target torque at the previous moment minus the torque change of the motor; if the absolute value of the difference between the steady-state driving target torque of each motor and its instantaneous driving target torque at the previous moment is less than the torque change of the motor, then the torque change of the motor is equal to the steady-state driving target torque.

[0087] In one embodiment, the method further includes the following step before step S107:

[0088] After calculating the instantaneous driving target torque of each motor at the current moment, the instantaneous driving target torque of each motor at the current moment is updated to the instantaneous driving target torque of the previous moment. The calculation expression is as follows:

[0089] T(K-1) i =T(K) i .

[0090] Repeatedly perform the update operation to make the instantaneous drive target torque of each motor equal to the steady-state drive target torque of each motor.

[0091] Furthermore, the formula for calculating the time required for the instantaneous target torque of each motor to change to the steady-state target torque of each motor is as follows:

[0092]

[0093] After transformation, we can see that:

[0094]

[0095]

[0096] Further results were obtained:

[0097] time1 i =time max This means that the time required for each motor to change from its instantaneous target torque to its steady-state target torque is equal, ensuring that the instantaneous target torque of each motor reaches its steady-state target torque simultaneously, thereby improving the stability of the vehicle during operation.

[0098] Figure 2 This is a schematic diagram of an embodiment of a motor torque control system for a multi-motor driven automobile provided by the present invention.

[0099] Reference Figure 2 The present invention also provides a motor torque control system for a multi-motor driven automobile, comprising:

[0100] The difference amplitude calculation module 201 is used to calculate the difference amplitude of the driving target torque of each motor based on the steady-state driving target torque of each motor and the instantaneous driving target torque of the previous moment.

[0101] The time required to drive the target is calculated by module 202, which is used to calculate the time required for each motor to follow the steady-state drive target torque based on the difference amplitude of the drive target torque of each motor and the threshold of the change rate of the vehicle drive torque.

[0102] The synchronous coordination change time calculation module 203 is used to calculate the synchronous coordination change time of the motors based on the time required for each motor to follow the steady-state drive target torque.

[0103] Available rate of change calculation module 204 is used to calculate the available rate of change of driving torque of each motor based on the difference amplitude of the driving target torque of each motor and the synchronous coordination change time of the motor.

[0104] The torque change calculation module 205 is used to calculate the torque change of each motor based on the available torque change rate of each motor and the task execution cycle.

[0105] The instantaneous drive target torque calculation module 206 is used to calculate the instantaneous drive target torque of each motor at the current moment based on the torque change of each motor, the steady-state drive target torque of each motor and the instantaneous drive target torque of the previous moment.

[0106] The execution module 207 is used to adjust the motor torque of the multi-motor driven vehicle according to the instantaneous drive target torque of each motor at the current moment.

[0107] Specifically, after the difference amplitude calculation module 201 calculates the difference amplitude of the driving target torque of each motor; the driving target required time calculation module 202 obtains the time required for each motor to follow the steady-state driving target torque by using the difference amplitude of the driving target torque of each motor and the threshold of the vehicle driving torque change rate; the synchronization coordination change time calculation module 203 then calculates the synchronization coordination change time of the motors; the available change rate calculation module 204 calculates the available change rate of the driving torque of each motor; the torque change amount calculation module 205 calculates the torque change amount; the instantaneous driving target torque calculation module 206 calculates the instantaneous driving target torque of each motor at the current moment; finally, the execution module 207 adjusts the motor torque of the multi-motor driven vehicle according to the instantaneous driving target torque of each motor at the current moment. This invention can control the instantaneous driving target torque of each motor to be equal to the motor torque of the multi-motor driven vehicle, so that each motor simultaneously reaches the preset target torque, thereby ensuring the consistency of the instantaneous expected torque change of each motor at the current moment and improving the safety of vehicle driving.

[0108] In summary, the present invention has at least the following beneficial effects:

[0109] (1) The time required for each motor to change from its instantaneous driving target torque to its steady-state driving target torque at the current moment is all equal, ensuring that the instantaneous driving target torque of each motor at the current moment reaches its steady-state driving target torque at the same time, thereby improving the stability of the vehicle during driving.

[0110] (2) The available rate of change of the driving torque of each motor is always less than or equal to the maximum allowable rate of change of the driving torque of the motor, ensuring that the available rate of change of the driving torque of the motor will not exceed the capacity range, avoiding the risk of motor damage and reduced service life, and improving the reliability and service life of the drive system.

[0111] The motor torque control system for multi-motor driven vehicles provided in the above embodiments can realize the technical solutions described in the embodiments of the motor torque control method for multi-motor driven vehicles. The specific implementation principles of each module or unit can be based on the corresponding content in the embodiments of the motor torque control method for multi-motor driven vehicles, which will not be repeated here.

[0112] The present invention provides a detailed description of a motor torque control method and system for a multi-motor driven automobile. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, those skilled in the art will recognize that there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for controlling the motor torque of a multi-motor driven automobile, characterized in that, include: The difference amplitude of the driving target torque of each motor is calculated based on the steady-state driving target torque of each motor and the instantaneous driving target torque of the previous moment. The time required for each motor to follow the steady-state drive target torque is calculated based on the difference amplitude of the drive target torque of each motor and the threshold of the vehicle drive torque change rate. The synchronous coordination change time of the motors is calculated based on the time required for each motor to follow the steady-state drive target torque. The available rate of change of driving torque for each motor is calculated based on the difference amplitude of the driving target torque of each motor and the synchronous coordination change time of the motor. The torque change of each motor is calculated based on the available rate of change of torque of each motor and the task execution cycle; The instantaneous driving target torque of each motor at the current moment is calculated based on the torque change of each motor, the steady-state driving target torque of each motor, and the instantaneous driving target torque at the previous moment. The motor torque of the multi-motor driven vehicle is adjusted according to the instantaneous driving target torque of each motor at the current moment.

2. The motor torque control method for a multi-motor driven automobile according to claim 1, characterized in that, The formula for calculating the difference in the steady-state drive target torque of each motor, based on the steady-state drive target torque of each motor and the instantaneous drive target torque of the previous moment, is as follows: ΔT i = |T i -T(K-1) i |; where ΔT i represents the driving target torque difference amplitude of the i-th motor, T i represents the steady state driving target torque of the i-th motor, T(K-1) i represents the instantaneous driving target torque of the i-th motor at the previous time.

3. The motor torque control method for a multi-motor driven vehicle according to claim 2, characterized in that, The formula for calculating the time required for each motor to follow the steady-state drive target torque based on the difference amplitude of the drive target torque of each motor and the threshold of the vehicle drive torque change rate is as follows: Among them, time i K represents the time required for the i-th motor to follow the steady-state drive target torque. max This represents the threshold for the rate of change of the vehicle's driving torque.

4. The motor torque control method for a multi-motor driven vehicle according to claim 3, characterized in that, The formula for calculating the synchronous coordination change time of the motors based on the time required for each motor to follow the steady-state drive target torque is as follows: time max =max 1≤i≤n time i ; Among them, time max This indicates the time for synchronous and coordinated changes in motor operation; `max` indicates taking the maximum value. max ≥time i .

5. The motor torque control method for a multi-motor driven automobile according to claim 4, characterized in that, The formula for calculating the available rate of change of driving torque for each motor based on the difference amplitude of the target driving torque of each motor and the synchronous coordination change time of the motor is as follows: Among them, K i This represents the available rate of change of the driving torque of the i-th motor.

6. The motor torque control method for a multi-motor driven automobile according to claim 5, characterized in that, The calculation formula for calculating the torque change of each motor based on the available torque change rate of each motor and the task execution cycle is as follows: ΔT1 i =K i *Δtime; Wherein, ΔT1 i Δtime represents the torque change of the i-th motor, and Δtime represents the task execution cycle.

7. The motor torque control method for a multi-motor driven automobile according to claim 6, characterized in that, The calculation formula for calculating the instantaneous driving target torque of each motor at the current moment based on the torque change of each motor, the steady-state driving target torque of each motor, and the instantaneous driving target torque of the previous moment is as follows: Where, T(K) i This represents the instantaneous driving target torque of the i-th motor at the current moment.

8. The motor torque control method for a multi-motor driven automobile according to claim 7, characterized in that, Before adjusting the motor torque of the multi-motor driven vehicle based on the instantaneous drive target torque of each motor at the current moment, the method further includes: After calculating the instantaneous driving target torque of each motor at the current moment, the instantaneous driving target torque of each motor at the current moment is updated to the instantaneous driving target torque of the previous moment. Repeat the update operation to make the instantaneous drive target torque of each motor at the current moment equal to the steady-state drive target torque of each motor.

9. The motor torque control method for a multi-motor driven automobile according to claim 8, characterized in that, The formula for calculating the time required for the instantaneous driving target torque of each motor to change to the steady-state driving target torque of each motor is as follows:

10. A motor torque control system for a multi-motor driven automobile, characterized in that, include: The difference amplitude calculation module is used to calculate the difference amplitude of the driving target torque of each motor based on the steady-state driving target torque of each motor and the instantaneous driving target torque of the previous moment. The time required to drive the target is calculated by the module, which is used to calculate the time required for each motor to follow the steady-state drive target torque based on the difference amplitude of the drive target torque of each motor and the threshold of the change rate of the overall vehicle drive torque. The synchronous coordination change time calculation module is used to calculate the synchronous coordination change time of the motors based on the time required for each motor to follow the steady-state drive target torque. The available rate of change calculation module is used to calculate the available rate of change of the driving torque of each motor based on the difference amplitude of the driving target torque of each motor and the synchronous coordination change time of the motor. The torque change calculation module is used to calculate the torque change of each motor based on the available torque change rate of each motor and the task execution cycle. The instantaneous drive target torque calculation module is used to calculate the instantaneous drive target torque of each motor at the current moment based on the torque change of each motor, the steady-state drive target torque of each motor, and the instantaneous drive target torque at the previous moment. An execution module is used to adjust the motor torque of the multi-motor driven vehicle according to the instantaneous drive target torque of each motor at the current moment.

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