Wheel hub motor torque control method and device

Abstract

The application provides a wheel hub motor torque control method and device, the method comprises the following steps: determining the total torque required to be executed by the single side of the vehicle based on the accelerator pedal opening degree; determining the first torque of the front and rear axles based on the maximum available torque of the front and rear axles, the total torque required to be executed by the single side of the vehicle and the first distribution coefficient of the front and rear axles; determining the second torque of the front and rear axles based on the first torque and the total torque required to be executed by the single side of the vehicle; determining the third torque of the front and rear axles based on the second torque and the second distribution coefficient of the front and rear axles; determining the torque loss of the front and rear axles based on the second torque and the third torque; determining the complementary compensation torque between the front and rear axles based on the maximum available torque, the third torque and the torque loss of the front and rear axles; and determining the smooth target output torque of the wheel hub motor based on the complementary compensation torque and the torque smoothing coefficient. The application can solve the problems of long dynamic adjustment time of wheel hub motor wheel slip, large wheel speed difference fluctuation and poor vehicle stability.

Description

Technical Field

[0001] This invention relates to the field of new energy vehicle technology, specifically to a wheel hub motor torque control method and device. Background Technology

[0002] Hub motor vehicles are a type of powertrain configuration for new energy vehicles. The torque of each wheel in a hub motor is independently controllable, improving vehicle power and maneuverability, but also increasing the complexity of overall vehicle control. Anti-slip control is a key technology in hub motor vehicle control. A common approach is PID control based on slip ratio; however, this method suffers from excessively long dynamic adjustment times and large fluctuations in wheel speed differences, resulting in poor wheel slip control and overall vehicle stability. Summary of the Invention

[0003] In view of this, it is necessary to provide a wheel hub motor torque control method and device to solve the technical problems in the prior art where the wheel slip dynamic adjustment time of the wheel hub motor is too long, the wheel speed difference fluctuates greatly, resulting in wheel slip and poor vehicle stability.

[0004] To achieve the above objectives, the present invention provides a hub motor torque control method, comprising:

[0005] Determine the maximum usable torque of the front and rear axles of the hub motor;

[0006] Obtain the accelerator pedal opening, and based on the accelerator pedal opening, determine the total torque required to be executed on one side of the vehicle;

[0007] The first torque of the front and rear axles is determined based on the maximum usable torque of the front and rear axles, the total torque required to be executed on one side of the vehicle, and the first distribution coefficient of the front and rear axles.

[0008] Based on the first torque of the front and rear axles and the total torque required to be executed on one side of the vehicle, the second torque of the front and rear axles is determined.

[0009] Based on the rotational speed of the hub motor, a second distribution coefficient for the front and rear axles is determined;

[0010] The third torque of the front and rear axles is determined based on the second torque of the front and rear axles and the second distribution coefficient of the front and rear axles;

[0011] Based on the second torque and the third torque of the front and rear axles, determine the torque loss of the front and rear axles;

[0012] The mutual compensation torque between the front and rear axles is determined based on the maximum usable torque of the front and rear axles, the third torque of the front and rear axles, and the torque lost by the front and rear axles.

[0013] Based on the mutual compensation torque between the front and rear axles and the torque smoothing coefficient, the smoothed target output torque of the hub motor is determined.

[0014] Further, determining the maximum usable torque of the front and rear axles of the hub motor includes:

[0015] The rated power and actual speed of the hub motor are obtained. Based on the rated power and actual speed of the hub motor, the maximum usable torque of the front and rear axles of the hub motor is obtained.

[0016] Further, the step of obtaining the maximum usable torque of the front and rear axles of the hub motor based on the rated power and actual rotational speed of the hub motor includes:

[0017] Based on the rated power and actual speed of the left front hub motor, determine the maximum usable torque of the left front hub motor;

[0018] Based on the rated power and actual speed of the right front hub motor, determine the maximum usable torque of the right front hub motor;

[0019] Based on the rated power and actual speed of the left rear wheel hub motor, the maximum usable torque of the left rear wheel hub motor is determined.

[0020] Based on the rated power and actual speed of the right rear wheel hub motor, the maximum usable torque of the right rear wheel hub motor is determined.

[0021] The maximum usable torque of the front axle is determined based on the maximum usable torque of the left front hub motor and the maximum usable torque of the right front hub motor.

[0022] The maximum usable torque of the rear axle is determined based on the maximum usable torque of the left rear hub motor and the maximum usable torque of the right rear hub motor.

[0023] Furthermore, the formula for calculating the first torque of the front and rear axles is as follows:

[0024]

[0025] Among them, T1 f The first torque on the front axle, T1 r The first torque of the rear axle is given by k1, and the first distribution coefficient between the front and rear axles is given by T1. all T represents the total torque required to be executed on one side of the vehicle. fmax T is the maximum usable torque of the front axle. rmax This is the maximum usable torque for the rear axle.

[0026] Furthermore, the formula for calculating the second torque of the front and rear axles is as follows:

[0027]

[0028] Among them, T2 f The second torque on the front axle, T2 r This is the second torque on the rear axle.

[0029] Furthermore, the formula for calculating the second distribution coefficient of the front and rear axles is as follows:

[0030]

[0031] Where, k 2f k is the second allocation coefficient of the front axle at the current moment. 2r k is the second allocation coefficient of the rear axle at the current time. 2flast k is the second allocation coefficient of the front axle at the previous moment. 2rlast γ1 is the second distribution coefficient of the axis after the previous time step, γ2 is the self-increment value, and γ2 is the self-decrement value.

[0032] The rotational speed of the hub motor includes w fl w fr w rl and w rr w fl This refers to the actual rotational speed of the left front wheel hub motor; w fr This refers to the actual rotational speed of the right front wheel hub motor; w rl This refers to the actual rotational speed of the left rear wheel hub motor; w rr This represents the actual rotational speed of the right rear wheel hub motor.

[0033] Further, determining the third torque of the front and rear axles based on the second torque of the front and rear axles and the second distribution coefficient of the front and rear axles includes:

[0034] The third torque of the front axle is obtained based on the product of the second torque of the front axle and the second distribution coefficient of the front axle;

[0035] The third torque of the rear axle is obtained based on the product of the second torque of the rear axle and the second distribution coefficient of the rear axle.

[0036] Further, determining the mutual compensation torque between the front and rear axles based on the maximum usable torque of the front and rear axles, the third torque of the front and rear axles, and the torque loss of the front and rear axles includes:

[0037] Based on the sum of the third torque of the front axle and the torque lost by the rear axle, and the maximum usable torque of the front axle, the mutual compensation between the front axles is determined.

[0038] The mutual compensation between the rear axles is determined based on the sum of the third torque of the rear axle and the torque lost by the front axle, and the maximum usable torque of the rear axle.

[0039] Furthermore, the formula for calculating the smoothed target output torque of the hub motor is as follows:

[0040]

[0041] Among them, Tout fl Tout is the smoothed target output torque of the left front wheel hub motor at the current moment. fr Tout is the smoothed target output torque of the right front wheel hub motor at the current moment. rl Tout is the smoothed target output torque of the left rear wheel hub motor at the current moment. rr Tout represents the smoothed target output torque of the right rear wheel hub motor at the current moment; k is the smoothing coefficient, k∈(0,1); fl_last Tout represents the smoothed target output torque of the left front wheel hub motor at the previous moment. fr_last Tout represents the smoothed target output torque of the right front wheel hub motor at the previous moment. rl_last Tout represents the smoothed target output torque of the left rear wheel hub motor at the previous moment. rr_last The smoothed target output torque of the right rear wheel hub motor at the previous moment; T4 f For mutual compensation torque between the front axles; T4 r This is for mutual compensation torque between the rear axles.

[0042] The present invention also provides a hub motor torque control device, comprising:

[0043] The maximum torque calculation module is used to determine the maximum usable torque of the front and rear axles of the hub motor;

[0044] The total torque calculation module is used to obtain the accelerator pedal opening and, based on the accelerator pedal opening, determine the total torque required to be executed on one side of the vehicle.

[0045] The first torque calculation module is used to determine the first torque of the front and rear axles based on the maximum usable torque of the front and rear axles, the total torque required to be executed on one side of the vehicle, and the first distribution coefficient of the front and rear axles.

[0046] The second torque calculation module is used to determine the second torque of the front and rear axles based on the first torque of the front and rear axles and the total torque required to be executed on one side of the vehicle.

[0047] The allocation coefficient calculation module is used to determine the second allocation coefficient of the front and rear axles based on the rotational speed of the hub motor.

[0048] The third torque calculation module is used to determine the third torque of the front and rear axles based on the second torque of the front and rear axles and the second distribution coefficient of the front and rear axles;

[0049] The torque loss calculation module is used to determine the torque loss of the front and rear axles based on the second torque and the third torque of the front and rear axles.

[0050] The compensation torque calculation module is used to determine the mutual compensation torque between the front and rear axles based on the maximum usable torque of the front and rear axles, the third torque of the front and rear axles, and the torque lost by the front and rear axles.

[0051] The output torque calculation module is used to determine the smooth target output torque of the hub motor based on the mutual compensation torque between the front and rear axles and the torque smoothing coefficient.

[0052] The beneficial effects of the above implementation method are as follows: The present invention provides a method for mutual torque compensation between the front and rear axles when the front and rear axles slip. This is achieved by using the maximum usable torque of the front and rear axles, the total torque required on one side of the vehicle, and the first distribution coefficient of the front and rear axles, as well as the second torque and the second distribution coefficient of the front and rear axles. Furthermore, the smooth target output torque of the hub motor is determined. This method, using dual proportional coefficients (first and second distribution coefficients), allows for rapid adjustment of the output torque of the slipping axle, shortening the adjustment time for wheel slippage, preventing wheel slippage, and improving vehicle stability and safety. Simultaneously, through inter-axle mutual torque compensation between the front and rear axles, the intended torque for driving the vehicle is maximized, thereby solving the technical problems in the prior art where the dynamic adjustment time for wheel slippage by the hub motor is too long, the wheel speed difference fluctuates greatly, leading to wheel slippage and poor vehicle stability. Attached Figure Description

[0053] 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.

[0054] Figure 1 A flowchart of an embodiment of the hub motor torque control method provided by the present invention;

[0055] Figure 2 A schematic block diagram of an embodiment of the hub motor torque control device provided by the present invention;

[0056] Figure 3 A schematic diagram of an embodiment of the electronic device provided by the present invention. Detailed Implementation

[0057] 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.

[0058] In the description of the embodiments of this application, unless otherwise stated, "a plurality of" means two or more.

[0059] In this embodiment of the invention, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, apparatus, product or device that includes a series of steps or modules is not necessarily limited to those steps or modules that are explicitly listed, but may include other steps or modules that are not explicitly listed or that are inherent to such process, method, product or device.

[0060] The naming or numbering of steps in the embodiments of the present invention does not mean that the steps in the method flow must be executed in the time / logical order indicated by the naming or numbering. The execution order of the named or numbered process steps can be changed according to the technical purpose to be achieved, as long as the same or similar technical effect can be achieved.

[0061] 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.

[0062] This invention provides a method and apparatus for torque control of a hub motor, which will be described below.

[0063] like Figure 1 As shown, the present invention provides a hub motor torque control method, comprising:

[0064] Determine the maximum usable torque of the front and rear axles of the hub motor;

[0065] Obtain the accelerator pedal opening, and based on the accelerator pedal opening, determine the total torque required to be executed on one side of the vehicle;

[0066] The first torque of the front and rear axles is determined based on the maximum usable torque of the front and rear axles, the total torque required to be executed on one side of the vehicle, and the first distribution coefficient of the front and rear axles.

[0067] Based on the first torque of the front and rear axles and the total torque required to be executed on one side of the vehicle, the second torque of the front and rear axles is determined.

[0068] Based on the rotational speed of the hub motor, a second distribution coefficient for the front and rear axles is determined;

[0069] The third torque of the front and rear axles is determined based on the second torque of the front and rear axles and the second distribution coefficient of the front and rear axles;

[0070] Based on the second torque and the third torque of the front and rear axles, determine the torque loss of the front and rear axles;

[0071] The mutual compensation torque between the front and rear axles is determined based on the maximum usable torque of the front and rear axles, the third torque of the front and rear axles, and the torque lost by the front and rear axles.

[0072] Based on the mutual compensation torque between the front and rear axles and the torque smoothing coefficient, the smoothed target output torque of the hub motor is determined.

[0073] Understandably, the maximum usable torque of the front and rear axles is calculated based on the external characteristics of each hub motor. The maximum usable torque of the front axle is equal to the smaller of the usable torque of the left front hub motor and the usable torque of the right front hub motor; the maximum usable torque of the rear axle is equal to the smaller of the usable torque of the left rear hub motor and the usable torque of the right rear hub motor.

[0074] The total torque required for one side of the vehicle is calculated based on the accelerator pedal opening. The total torque required for one side is equal to half of the total torque calculated based on the accelerator pedal opening. The calculation formula is:

[0075]

[0076] Wherein: T all To calculate the total torque of the vehicle based on the accelerator pedal opening; T1 all This is the total torque required for execution on one side.

[0077] The second distribution coefficients for the front and rear axles are calculated based on their respective rotational speeds. If the front axle speed is greater than the rear axle speed, the second distribution coefficient for the front axle continuously decreases, while the second distribution coefficient for the rear axle continuously increases. If the front axle speed is equal to the rear axle speed, both the front and rear axle second distribution coefficients are equal to 1. If the front axle speed is less than the rear axle speed, the second distribution coefficient for the front axle continuously increases, while the second distribution coefficient for the rear axle continuously decreases. Furthermore, the values ​​of the second distribution coefficients for both the front and rear axles range from greater than or equal to 0 to less than or equal to 1.

[0078] The torque loss of the front and rear axles is calculated based on the second and third torques of the front and rear axles. The torque loss of the front axle is equal to the difference between the second and third torques of the front axle; the torque loss of the rear axle is equal to the difference between the second and third torques of the rear axle. The calculation formula is as follows:

[0079]

[0080] Where: ΔT3 r The torque lost by the front axle; ΔT3 r This represents the torque lost by the rear axle.

[0081] Furthermore, by k 2f k 2r Since at least one of the values ​​must be 1, we know that: ΔT3 f ΔT3 r At least one of them is 0.

[0082] In some embodiments, determining the maximum usable torque of the front and rear axles of the hub motor includes:

[0083] The rated power and actual speed of the hub motor are obtained. Based on the rated power and actual speed of the hub motor, the maximum usable torque of the front and rear axles of the hub motor is obtained.

[0084] Understandably, the formula for calculating the maximum usable torque is:

[0085]

[0086] Wherein: T flmax The available torque for the left front wheel hub motor; T frmax The available torque for the right front wheel hub motor; T rlmax The available torque for the left rear wheel hub motor; T rrmax The available torque for the right rear wheel hub motor; T fmax T is the maximum usable torque of the front axle. rmax This is the maximum usable torque for the rear axle.

[0087] Furthermore, T flmax ,T frmax T rlmax ,T rrmax The calculation method is as follows:

[0088]

[0089] Where: p flw The rated power of the left front wheel hub motor; p frw The rated power of the right front wheel hub motor; p rlw The rated power of the left rear wheel hub motor; prrw The rated power of the right rear wheel hub motor; w fl This refers to the actual rotational speed of the left front wheel hub motor; w fr This refers to the actual rotational speed of the right front wheel hub motor; w rl This refers to the actual rotational speed of the left rear wheel hub motor; w rr This represents the actual rotational speed of the right rear wheel hub motor.

[0090] In some embodiments, obtaining the maximum usable torque of the front and rear axles of the hub motor based on the rated power of the hub motor and the actual rotational speed of the hub motor includes:

[0091] Based on the rated power and actual speed of the left front hub motor, determine the maximum usable torque of the left front hub motor;

[0092] Based on the rated power and actual speed of the right front hub motor, determine the maximum usable torque of the right front hub motor;

[0093] Based on the rated power and actual speed of the left rear wheel hub motor, the maximum usable torque of the left rear wheel hub motor is determined.

[0094] Based on the rated power and actual speed of the right rear wheel hub motor, the maximum usable torque of the right rear wheel hub motor is determined.

[0095] The maximum usable torque of the front axle is determined based on the maximum usable torque of the left front hub motor and the maximum usable torque of the right front hub motor.

[0096] The maximum usable torque of the rear axle is determined based on the maximum usable torque of the left rear hub motor and the maximum usable torque of the right rear hub motor.

[0097] In some embodiments, the formula for calculating the first torque of the front and rear axles is:

[0098]

[0099] Among them, T1 f The first torque on the front axle, T1 r The first torque of the rear axle is given by k1, and the first distribution coefficient between the front and rear axles is given by T1. all T represents the total torque required to be executed on one side of the vehicle. fmax T is the maximum usable torque of the front axle. rmax This is the maximum usable torque for the rear axle.

[0100] Understandably, k1 can be calibrated, equal to the front axle static axle load ratio, or obtained through dynamic calculation.

[0101] In some embodiments, the formula for calculating the second torque of the front and rear axles is:

[0102]

[0103] Among them, T2 f The second torque on the front axle, T2 r This is the second torque on the rear axle.

[0104] In some embodiments, the formula for calculating the second distribution coefficient of the front and rear axles is:

[0105]

[0106] Where, k 2f k is the second allocation coefficient of the front axle at the current moment. 2r k is the second allocation coefficient of the rear axle at the current time. 2flast k is the second allocation coefficient of the front axle at the previous moment. 2rlast γ1 is the second distribution coefficient of the axis after the previous time step, γ2 is the self-increment value, and γ2 is the self-decrement value.

[0107] The rotational speed of the hub motor includes w fl w fr w rl and w rr w fl This refers to the actual rotational speed of the left front wheel hub motor; w fr This refers to the actual rotational speed of the right front wheel hub motor; w rl This refers to the actual rotational speed of the left rear wheel hub motor; w rr This represents the actual rotational speed of the right rear wheel hub motor.

[0108] Understandably, k 2f k 2r At least one of them must be 1. γ1∈(0,1),γ2∈(0,1), and the values ​​of γ1 and γ2 can be determined by calibration, with priority given to γ1=γ2=0.1.

[0109] In some embodiments, determining the third torque of the front and rear axles based on the second torque of the front and rear axles and the second distribution coefficient of the front and rear axles includes:

[0110] The third torque of the front axle is obtained based on the product of the second torque of the front axle and the second distribution coefficient of the front axle;

[0111] The third torque of the rear axle is obtained based on the product of the second torque of the rear axle and the second distribution coefficient of the rear axle.

[0112] Understandably, the third torque of the front and rear axles is calculated based on the second torque of the front and rear axles and the second torque distribution coefficient of the front and rear axles. The third torque of the front axle is equal to the product of the second torque of the front axle and the second torque distribution coefficient of the front axle; the third torque of the rear axle is equal to the product of the second torque of the rear axle and the second torque distribution coefficient of the rear axle. The calculation formula is:

[0113]

[0114] Among them: T3 f The third torque on the front axle; T3 r This is the third torque on the rear axle.

[0115] In some embodiments, determining the mutual compensation torque between the front and rear axles based on the maximum usable torque of the front and rear axles, the third torque of the front and rear axles, and the torque lost by the front and rear axles includes:

[0116] Based on the sum of the third torque of the front axle and the torque lost by the rear axle, and the maximum usable torque of the front axle, the mutual compensation between the front axles is determined.

[0117] The mutual compensation between the rear axles is determined based on the sum of the third torque of the rear axle and the torque lost by the front axle, and the maximum usable torque of the rear axle.

[0118] Understandably, within the maximum usable torque limits of the front and rear axles, the mutual compensation torque between the front and rear axles is calculated based on the third torque of the front and rear axles and the torque loss of the front and rear axles. The mutual compensation torque between the front axles is equal to the smaller value of the sum of the third torque of the front axle and the torque loss of the rear axle, plus the maximum usable torque limit of the front axle; the mutual compensation torque between the rear axles is equal to the smaller value of the sum of the third torque of the rear axle and the torque loss of the front axle, plus the maximum usable torque limit of the rear axle. The calculation formula is:

[0119]

[0120] Among them: T4 f For mutual compensation torque between the front axles; T4 r This is for mutual compensation torque between the rear axles.

[0121] In some embodiments, the formula for calculating the smoothed target output torque of the hub motor is:

[0122]

[0123] Among them, Tout fl Tout is the smoothed target output torque of the left front wheel hub motor at the current moment. fr Tout is the smoothed target output torque of the right front wheel hub motor at the current moment. rl Tout is the smoothed target output torque of the left rear wheel hub motor at the current moment. rrTout represents the smoothed target output torque of the right rear wheel hub motor at the current moment; k is the smoothing coefficient, k∈(0,1); fl_last Tout represents the smoothed target output torque of the left front wheel hub motor at the previous moment. fr_last Tout represents the smoothed target output torque of the right front wheel hub motor at the previous moment. rl_last Tout represents the smoothed target output torque of the left rear wheel hub motor at the previous moment. rr_last The smoothed target output torque of the right rear wheel hub motor at the previous moment; T4 f For mutual compensation torque between the front axles; T4 r This is for mutual compensation torque between the rear axles.

[0124] Understandably, the smoothed target output torque of each hub motor is calculated based on the mutual compensation torque between the front and rear axles and the torque smoothing coefficient. The smoothed target output torque of each hub motor is equal to the product of the difference between 1 and the smoothing coefficient and the mutual compensation torque between the front and rear axles, plus the product of the smoothing coefficient and the previous value of the smoothed target output torque of each hub motor.

[0125] Furthermore, Tout fl_last Tout fr_last Tout rl_last Tout rr_last Its initial value is zero.

[0126] In summary, the hub motor torque control method provided by this invention includes: determining the maximum usable torque of the front and rear axles of the hub motor; obtaining the accelerator pedal opening, and determining the total torque required for execution on one side of the vehicle based on the accelerator pedal opening; determining the first torque of the front and rear axles based on the maximum usable torque of the front and rear axles, the total torque required for execution on one side of the vehicle, and a first distribution coefficient of the front and rear axles; determining the second torque of the front and rear axles based on the first torque of the front and rear axles and the total torque required for execution on one side of the vehicle; determining the second distribution coefficient of the front and rear axles based on the rotational speed of the hub motor; determining the third torque of the front and rear axles based on the second torque of the front and rear axles and the second distribution coefficient of the front and rear axles; determining the torque loss of the front and rear axles based on the second torque of the front and rear axles and the third torque of the front and rear axles; determining the mutual compensation torque between the front and rear axles based on the maximum usable torque of the front and rear axles, the third torque of the front and rear axles, and the torque loss of the front and rear axles; and determining the smoothed target output torque of the hub motor based on the mutual compensation torque between the front and rear axles and a torque smoothing coefficient.

[0127] In the hub motor torque control method provided by this invention, when the front and rear axle wheels slip, inter-axle torque mutual compensation is performed by using the maximum usable torque of the front and rear axles, the total torque required for one side of the vehicle, and the first distribution coefficient of the front and rear axles, as well as the second torque and the second distribution coefficient of the front and rear axles. This further determines the smooth target output torque of the hub motor. Specifically, by using dual proportional coefficients (first distribution coefficient and second distribution coefficient), the output torque of the slipping axle can be quickly adjusted, shortening the wheel slip adjustment time, preventing wheel slippage, and improving vehicle stability and safety. Simultaneously, through inter-axle mutual compensation of the front and rear axle torques, the intended torque for driving the vehicle is maximized, thereby solving the technical problems in the prior art where the dynamic adjustment time for wheel slippage is too long, the wheel speed difference fluctuates greatly, leading to wheel slippage and poor vehicle stability.

[0128] like Figure 2 As shown, the present invention also provides a hub motor torque control device 200, comprising:

[0129] Maximum torque calculation module 210 is used to determine the maximum usable torque of the front and rear axles of the hub motor;

[0130] The total torque calculation module 220 is used to obtain the accelerator pedal opening and, based on the accelerator pedal opening, determine the total torque required to be executed on one side of the vehicle.

[0131] The first torque calculation module 230 is used to determine the first torque of the front and rear axles based on the maximum usable torque of the front and rear axles, the total torque required to be executed on one side of the vehicle and the first distribution coefficient of the front and rear axles.

[0132] The second torque calculation module 240 is used to determine the second torque of the front and rear axles based on the first torque of the front and rear axles and the total torque required to be executed on one side of the vehicle.

[0133] The allocation coefficient calculation module 250 is used to determine the second allocation coefficient of the front and rear axles based on the rotational speed of the hub motor.

[0134] The third torque calculation module 260 is used to determine the third torque of the front and rear axles based on the second torque of the front and rear axles and the second distribution coefficient of the front and rear axles;

[0135] The torque loss calculation module 270 is used to determine the torque loss of the front and rear axles based on the second torque and the third torque of the front and rear axles.

[0136] The compensation torque calculation module 280 is used to determine the mutual compensation torque between the front and rear axles based on the maximum usable torque of the front and rear axles, the third torque of the front and rear axles, and the torque lost by the front and rear axles.

[0137] The output torque calculation module 290 is used to determine the smooth target output torque of the hub motor based on the mutual compensation torque between the front and rear axles and the torque smoothing coefficient.

[0138] The hub motor torque control device provided in the above embodiments can realize the technical solutions described in the above hub motor torque control method embodiments. The specific implementation principles of each module or unit can be found in the corresponding content in the above hub motor torque control method embodiments, and will not be repeated here.

[0139] like Figure 3 As shown, the present invention also provides an electronic device 300. The electronic device 300 includes a processor 301, a memory 302, and a display 303. Figure 3 Only some of the components of the electronic device 300 are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0140] In some embodiments, memory 302 may be an internal storage unit of electronic device 300, such as a hard disk or memory of electronic device 300. In other embodiments, memory 302 may also be an external storage device of electronic device 300, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc. equipped on electronic device 300.

[0141] Furthermore, the memory 302 may include both internal storage units of the electronic device 300 and external storage devices. The memory 302 is used to store application software and various types of data installed on the electronic device 300.

[0142] In some embodiments, processor 301 may be a central processing unit (CPU), microprocessor or other data processing chip, used to run program code stored in memory 302 or process data, such as the hub motor torque control method of the present invention.

[0143] In some embodiments, display 303 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. Display 303 is used to display information from electronic device 300 and to display a visual user interface. Components 301-303 of electronic device 300 communicate with each other via a system bus.

[0144] In some embodiments of the present invention, when the processor 301 executes the hub motor torque control program in the memory 302, the following steps can be implemented:

[0145] Determine the maximum usable torque of the front and rear axles of the hub motor;

[0146] Obtain the accelerator pedal opening, and based on the accelerator pedal opening, determine the total torque required to be executed on one side of the vehicle;

[0147] The first torque of the front and rear axles is determined based on the maximum usable torque of the front and rear axles, the total torque required to be executed on one side of the vehicle, and the first distribution coefficient of the front and rear axles.

[0148] Based on the first torque of the front and rear axles and the total torque required to be executed on one side of the vehicle, the second torque of the front and rear axles is determined.

[0149] Based on the rotational speed of the hub motor, a second distribution coefficient for the front and rear axles is determined;

[0150] The third torque of the front and rear axles is determined based on the second torque of the front and rear axles and the second distribution coefficient of the front and rear axles;

[0151] Based on the second torque and the third torque of the front and rear axles, determine the torque loss of the front and rear axles;

[0152] The mutual compensation torque between the front and rear axles is determined based on the maximum usable torque of the front and rear axles, the third torque of the front and rear axles, and the torque lost by the front and rear axles.

[0153] Based on the mutual compensation torque between the front and rear axles and the torque smoothing coefficient, the smoothed target output torque of the hub motor is determined.

[0154] It should be understood that when the processor 301 executes the hub motor torque control program in the memory 302, in addition to the functions mentioned above, it can also perform other functions, as detailed in the description of the corresponding method embodiments above.

[0155] Furthermore, the embodiments of the present invention do not specifically limit the type of electronic device 300 mentioned. Electronic device 300 can be a mobile phone, tablet computer, personal digital assistant (PDA), wearable device, laptop computer, or other portable electronic device. Exemplary embodiments of portable electronic devices include, but are not limited to, portable electronic devices running iOS, Android, Microsoft, or other operating systems. The aforementioned portable electronic device can also be other portable electronic devices, such as a laptop computer with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of the present invention, electronic device 300 may not be a portable electronic device, but rather a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0156] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to perform the hub motor torque control method provided by the methods described above, the method comprising:

[0157] Determine the maximum usable torque of the front and rear axles of the hub motor;

[0158] Obtain the accelerator pedal opening, and based on the accelerator pedal opening, determine the total torque required to be executed on one side of the vehicle;

[0159] The first torque of the front and rear axles is determined based on the maximum usable torque of the front and rear axles, the total torque required to be executed on one side of the vehicle, and the first distribution coefficient of the front and rear axles.

[0160] Based on the first torque of the front and rear axles and the total torque required to be executed on one side of the vehicle, the second torque of the front and rear axles is determined.

[0161] Based on the rotational speed of the hub motor, a second distribution coefficient for the front and rear axles is determined;

[0162] The third torque of the front and rear axles is determined based on the second torque of the front and rear axles and the second distribution coefficient of the front and rear axles;

[0163] Based on the second torque and the third torque of the front and rear axles, determine the torque loss of the front and rear axles;

[0164] The mutual compensation torque between the front and rear axles is determined based on the maximum usable torque of the front and rear axles, the third torque of the front and rear axles, and the torque lost by the front and rear axles.

[0165] Based on the mutual compensation torque between the front and rear axles and the torque smoothing coefficient, the smoothed target output torque of the hub motor is determined.

[0166] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware, and the program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0167] The wheel hub motor torque control method and device provided by the present invention have been described in detail above. Specific examples have been used to illustrate the principle and implementation of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation and application scope based on the idea 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 torque control of a hub motor, characterized in that, include: Determine the maximum usable torque of the front and rear axles of the hub motor; Obtain the accelerator pedal opening, and based on the accelerator pedal opening, determine the total torque required to be executed on one side of the vehicle; The first torque of the front and rear axles is determined based on the maximum usable torque of the front and rear axles, the total torque required to be executed on one side of the vehicle, and the first distribution coefficient of the front and rear axles. Based on the first torque of the front and rear axles and the total torque required to be executed on one side of the vehicle, the second torque of the front and rear axles is determined. Based on the rotational speed of the hub motor, a second distribution coefficient for the front and rear axles is determined; The third torque of the front and rear axles is determined based on the second torque of the front and rear axles and the second distribution coefficient of the front and rear axles; Based on the second torque and the third torque of the front and rear axles, determine the torque loss of the front and rear axles; The mutual compensation torque between the front and rear axles is determined based on the maximum usable torque of the front and rear axles, the third torque of the front and rear axles, and the torque lost by the front and rear axles. Based on the mutual compensation torque between the front and rear axles and the torque smoothing coefficient, the smoothed target output torque of the hub motor is determined. The formula for calculating the second distribution coefficient of the front and rear axles is: in, The second allocation coefficient for the front axle at the current moment. The second allocation coefficient for the rear axle at the current moment. The second allocation coefficient of the front axle at the previous moment. The second allocation coefficient of the rear axle at the previous moment. For self-increase, It is a decrementing value; The rotational speed states of the hub motor include , , and , This represents the actual rotational speed of the left front wheel hub motor. This represents the actual rotational speed of the right front wheel hub motor. This represents the actual rotational speed of the left rear wheel hub motor. This represents the actual rotational speed of the right rear wheel hub motor. Determining the third torque of the front and rear axles based on the second torque of the front and rear axles and the second distribution coefficient of the front and rear axles includes: The third torque of the front axle is obtained based on the product of the second torque of the front axle and the second distribution coefficient of the front axle; The third torque of the rear axle is obtained based on the product of the second torque of the rear axle and the second distribution coefficient of the rear axle; The determination of the mutual compensation torque between the front and rear axles based on the maximum usable torque of the front and rear axles, the third torque of the front and rear axles, and the torque loss of the front and rear axles includes: Based on the sum of the third torque of the front axle and the torque lost by the rear axle, and the maximum usable torque of the front axle, the mutual compensation between the front axles is determined. The mutual compensation between the rear axles is determined based on the sum of the third torque of the rear axle and the torque lost by the front axle, and the maximum usable torque of the rear axle.

2. The hub motor torque control method according to claim 1, characterized in that, Determining the maximum usable torque of the front and rear axles of the hub motor includes: The rated power and actual speed of the hub motor are obtained. Based on the rated power and actual speed of the hub motor, the maximum usable torque of the front and rear axles of the hub motor is obtained.

3. The hub motor torque control method according to claim 2, characterized in that, The process of obtaining the maximum usable torque of the front and rear axles of the hub motor based on its rated power and actual rotational speed includes: Based on the rated power and actual speed of the left front hub motor, determine the maximum usable torque of the left front hub motor; Based on the rated power and actual speed of the right front hub motor, determine the maximum usable torque of the right front hub motor; Based on the rated power and actual speed of the left rear wheel hub motor, the maximum usable torque of the left rear wheel hub motor is determined. Based on the rated power and actual speed of the right rear wheel hub motor, the maximum usable torque of the right rear wheel hub motor is determined. The maximum usable torque of the front axle is determined based on the maximum usable torque of the left front hub motor and the maximum usable torque of the right front hub motor. The maximum usable torque of the rear axle is determined based on the maximum usable torque of the left rear hub motor and the maximum usable torque of the right rear hub motor.

4. The hub motor torque control method according to claim 1, characterized in that, The formula for calculating the first torque of the front and rear axles is: in, The first torque of the front axle, The first torque of the rear axle, This is the first distribution coefficient for the front and rear axles. This refers to the total torque required to be executed on one side of the entire vehicle. This represents the maximum usable torque of the front axle. This is the maximum usable torque for the rear axle.

5. The hub motor torque control method according to claim 4, characterized in that, The formula for calculating the second torque of the front and rear axles is: in, The second torque on the front axle, This is the second torque on the rear axle.

6. The hub motor torque control method according to any one of claims 1-5, characterized in that, The formula for calculating the smooth target output torque of the hub motor is as follows: in, The smoothed target output torque of the left front wheel hub motor at the current moment. The smoothed target output torque of the right front wheel hub motor at the current moment. The smoothed target output torque of the left rear wheel hub motor at the current moment. The smoothed target output torque of the right rear wheel hub motor at the current moment; For smoothing coefficients, ； The target output torque of the left front wheel hub motor at the previous moment is the smoothed target torque. The smoothed target output torque of the right front wheel hub motor at the previous moment. The smoothed target output torque of the left rear wheel hub motor at the previous moment. The smoothed target output torque of the right rear wheel hub motor at the previous moment; This is for mutual compensation torque between the front axles; This is for mutual compensation torque between the rear axles.

7. A hub motor torque control device, characterized in that, The apparatus is used in the method according to any one of claims 1-6, the apparatus comprising: The maximum torque calculation module is used to determine the maximum usable torque of the front and rear axles of the hub motor; The total torque calculation module is used to obtain the accelerator pedal opening and, based on the accelerator pedal opening, determine the total torque required to be executed on one side of the vehicle. The first torque calculation module is used to determine the first torque of the front and rear axles based on the maximum usable torque of the front and rear axles, the total torque required to be executed on one side of the vehicle, and the first distribution coefficient of the front and rear axles. The second torque calculation module is used to determine the second torque of the front and rear axles based on the first torque of the front and rear axles and the total torque required to be executed on one side of the vehicle. The allocation coefficient calculation module is used to determine the second allocation coefficient of the front and rear axles based on the rotational speed of the hub motor. The third torque calculation module is used to determine the third torque of the front and rear axles based on the second torque of the front and rear axles and the second distribution coefficient of the front and rear axles; The torque loss calculation module is used to determine the torque loss of the front and rear axles based on the second torque and the third torque of the front and rear axles. The compensation torque calculation module is used to determine the mutual compensation torque between the front and rear axles based on the maximum usable torque of the front and rear axles, the third torque of the front and rear axles, and the torque lost by the front and rear axles. The output torque calculation module is used to determine the smooth target output torque of the hub motor based on the mutual compensation torque between the front and rear axles and the torque smoothing coefficient.

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