Single-wheel dual-motor control method, device and vehicle

Abstract

The application provides a single-wheel dual-motor control method and device and a vehicle. The method comprises the following steps: obtaining a required rotating speed and adjusting the rotating speed of a first motor to the required rotating speed; obtaining a current actual torque of the first motor to obtain a first actual torque, obtaining a current actual torque of a second motor to obtain a second actual torque; calculating the sum of the first actual torque and the second actual torque to obtain a total torque, and calculating the ratio of the first actual torque to the total torque to obtain a torque ratio; in the case that the torque ratio is greater than a first threshold value or the torque ratio is less than a second threshold value, the rotating speed of the first motor is kept unchanged and the second actual torque is adjusted to reduce the absolute value of the difference between the first actual torque and the second actual torque, the first threshold value is greater than or equal to 50%, and the second threshold value is less than or equal to 50%, thereby solving the problem that the dual motors cannot be reasonably allocated torque while meeting the required vehicle speed.

Description

Technical Field

[0001] This invention relates to the field of technology, and more specifically, to a single-wheel dual-motor control method, apparatus, computer-readable storage medium, computer program product, and vehicle. Background Technology

[0002] In common vehicles, the wheel-end drive motors are single motors, and their driving capability is sufficient to meet design requirements. However, in the field of high-horsepower construction machinery, the driving capability of a single motor is insufficient, necessitating the use of dual-motor wheel-end drives. For single-motor wheel-end applications, a VCU (Variable Rotary Unit) is often used to send the required speed to the wheel-end motor, which then performs closed-loop control based on the actual speed acquired by a rotary encoder. However, for rigidly connected dual-motor wheel-end systems, if the VCU sends the required speed, both motors may use speed-based closed-loop control, potentially leading to control conflicts. Conversely, if the VCU sends the required torque (obtained through closed-loop control of the required speed and the actual motor speed), both motors may use torque control, potentially causing the vehicle's straight-line travel camber rate to fail to meet requirements due to control delays (the delay in the VCU receiving the actual motor speed via the CAN bus and the delay in the motor receiving the required torque from the VCU via the speed-based closed-loop control). Summary of the Invention

[0003] The main objective of this application is to provide a single-wheel dual-motor control method, device, computer-readable storage medium, computer program product, and vehicle, so as to at least solve the problem in the prior art that the torque of the dual motors cannot be reasonably distributed while meeting the required vehicle speed.

[0004] To achieve the above objectives, according to one aspect of this application, a single-wheel dual-motor control method is provided. The vehicle includes a wheel, a first motor, and a second motor, wherein the first motor and the second motor jointly drive the wheel. The method includes: acquiring a required rotational speed and adjusting the rotational speed of the first motor to the required rotational speed, wherein the required rotational speed is the rotational speed of the first motor that satisfies the required vehicle speed; acquiring the current actual torque of the first motor to obtain a first actual torque; acquiring the current actual torque of the second motor to obtain a second actual torque; calculating the sum of the first actual torque and the second actual torque to obtain a total torque, and calculating the ratio of the first actual torque to the total torque to obtain a torque percentage; if the torque percentage is greater than a first threshold or less than a second threshold, controlling the rotational speed of the first motor to remain unchanged and adjusting the second actual torque to reduce the absolute value of the difference between the first actual torque and the second actual torque, wherein the first threshold is greater than or equal to 50% and the second threshold is less than or equal to 50%.

[0005] Optionally, when the torque percentage is greater than a first threshold or less than a second threshold, controlling the speed of the first motor to remain constant and adjusting the second actual torque to reduce the absolute value of the difference between the first actual torque and the second actual torque includes: when the torque percentage is greater than the first threshold or less than the second threshold, controlling the speed of the first motor to remain constant and adjusting the second actual torque to the product of the total torque and a third threshold, wherein the third threshold is greater than the second threshold and less than the first threshold, and the second threshold is the difference between 100% and the first threshold.

[0006] Optionally, when the torque percentage is greater than a first threshold or less than a second threshold, controlling the speed of the first motor to remain constant and adjusting the second actual torque to reduce the absolute value of the difference between the first actual torque and the second actual torque includes: when the torque percentage is greater than the first threshold, controlling the speed of the first motor to remain constant and increasing the second actual torque; when the torque percentage is less than the second threshold, controlling the speed of the first motor to remain constant and decreasing the second actual torque.

[0007] Optionally, after calculating the ratio of the first actual torque to the total torque to obtain the torque percentage, the method further includes: when the torque percentage is less than or equal to the first threshold and the torque percentage is greater than or equal to the second threshold, controlling the speed of the first motor to remain unchanged and controlling the second actual torque to remain unchanged.

[0008] Optionally, obtaining the required rotational speed includes: obtaining the throttle opening of the vehicle; obtaining the required vehicle speed by looking up a target mapping relationship based on the throttle opening, wherein the target mapping relationship is the mapping relationship between the throttle opening and the required vehicle speed; and calculating the required rotational speed based on the required vehicle speed.

[0009] Optionally, the vehicle further includes a speed reducer, wherein both the first motor and the second motor are connected to the wheels via the speed reducer, and the required rotational speed is calculated based on the required vehicle speed, including: obtaining the wheel radius of the wheel and the transmission ratio of the speed reducer; and calculating the required rotational speed based on the required vehicle speed, the wheel radius, and the transmission ratio.

[0010] According to another aspect of this application, a single-wheel dual-motor control device is provided. The vehicle includes wheels, a first motor, and a second motor, which jointly drive the wheels. The device includes: a first acquisition unit, configured to acquire a required rotational speed and adjust the rotational speed of the first motor to the required rotational speed, wherein the required rotational speed is the rotational speed of the first motor that satisfies the required vehicle speed; a second acquisition unit, configured to acquire the current actual torque of the first motor to obtain a first actual torque, and acquire the current actual torque of the second motor to obtain a second actual torque; a calculation unit, configured to calculate the sum of the first actual torque and the second actual torque to obtain a total torque, and calculate the ratio of the first actual torque to the total torque to obtain a torque percentage; and a first control unit, configured to, when the torque percentage is greater than a first threshold or less than a second threshold, control the rotational speed of the first motor to remain constant and adjust the second actual torque to reduce the absolute value of the difference between the first actual torque and the second actual torque, wherein the first threshold is greater than or equal to 50% and the second threshold is less than or equal to 50%.

[0011] According to another aspect of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform any of the methods described.

[0012] According to another aspect of this application, a computer program product is provided, comprising a computer program that, when executed by a processor, implements any of the methods described.

[0013] According to another aspect of this application, a vehicle is provided, comprising: wheels, a first motor, a second motor, one or more processors, a memory, and one or more programs, wherein the first motor and the second motor jointly drive the wheels, the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including methods for performing any one of the methods described.

[0014] By applying the technical solution of this application, in the above-mentioned single-wheel dual-motor control method, by adjusting the speed of the first motor to the required speed, the wheels can be driven to meet the vehicle's required speed. If the torque ratio is greater than the first threshold or less than the second threshold, it indicates that the change in the required speed causes an excessive difference in the output torque of the first motor and the second motor, resulting in excessive output of a single motor and unreasonable torque distribution. The second actual torque is adjusted to dynamically balance the output torque of the first motor and the second motor, while ensuring that the rotation of the first motor remains unchanged, thus meeting the vehicle's required speed. This solves the problem in the prior art that it is impossible to reasonably distribute the torque of the dual motors while meeting the required speed. Attached Figure Description

[0015] Figure 1 A hardware structure block diagram of a mobile terminal performing a single-wheel dual-motor control method according to an embodiment of this application is shown;

[0016] Figure 2 A schematic diagram of a single-wheel dual-motor drive structure according to an embodiment of this application is shown;

[0017] Figure 3 A schematic flowchart of a single-wheel dual-motor control method according to an embodiment of this application is shown;

[0018] Figure 4 A flowchart illustrating another single-wheel dual-motor control method provided according to an embodiment of this application is shown;

[0019] Figure 5 A structural block diagram of a single-wheel dual-motor control device provided according to an embodiment of this application is shown.

[0020] The above figures include the following reference numerals:

[0021] 10. Wheel; 20. First motor; 30. Second motor; 40. Reducer; 50. First MCU; 60. Second MCU; 102. Processor; 104. Memory; 106. Transmission device; 108. Input / output device. Detailed Implementation

[0022] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0023] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0024] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0025] For ease of description, the following explains some of the nouns or terms used in the embodiments of this application:

[0026] VCU: The vehicle's primary control unit, which collects relevant information, makes decisions about the driver's intentions, and controls the actuators to perform their functions.

[0027] CAN: Controller Area Network;

[0028] Rotary encoder: A device used to measure rotational speed and, in conjunction with PWM technology, to achieve rapid speed adjustment;

[0029] Straight-line travel skew ratio: The ratio of the distance a vehicle deviates from the straight line to the distance it travels along the straight line when traveling in a straight line. For example, for bulldozers, the skew ratio is specified to not exceed 0.5%.

[0030] As described in the background section, existing technologies cannot reasonably distribute the torque of dual motors while meeting the required vehicle speed. To solve this technical problem, embodiments of this application provide a single-wheel dual-motor control method, apparatus, computer-readable storage medium, computer program product, and vehicle.

[0031] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0032] The methods and embodiments provided in this application can be executed on a mobile terminal, computer terminal, or similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for a single-wheel dual-motor control method according to an embodiment of the present invention. Figure 1 As shown, a mobile terminal may include one or more ( Figure 1Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0033] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the single-wheel dual-motor control method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0034] This embodiment provides a single-wheel dual-motor control method operating on a mobile terminal, computer terminal, or similar computing device, such as... Figure 2 As shown, the vehicle includes wheels 10, a first motor 20, and a second motor 30. The first motor 20 and the second motor 30 jointly drive the wheels 10. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0035] Figure 3This is a flowchart of a single-wheel dual-motor control method according to an embodiment of this application. Figure 3 As shown, the method includes the following steps:

[0036] Step S201: Obtain the required speed and adjust the speed of the first motor to the required speed, wherein the required speed is the speed of the first motor that meets the required vehicle speed of the vehicle.

[0037] Step S202: Obtain the current actual torque of the first motor to obtain the first actual torque; obtain the current actual torque of the second motor to obtain the second actual torque.

[0038] Step S203: Calculate the sum of the first actual torque and the second actual torque to obtain the total torque, and calculate the ratio of the first actual torque to the total torque to obtain the torque percentage.

[0039] Step S204: When the torque percentage is greater than the first threshold or less than the second threshold, the speed of the first motor is kept constant and the second actual torque is adjusted to reduce the absolute value of the difference between the first actual torque and the second actual torque. The first threshold is greater than or equal to 50% and the second threshold is less than or equal to 50%.

[0040] In the above-mentioned single-wheel dual-motor control method, by adjusting the speed of the first motor to the required speed, the wheels can be driven to meet the vehicle's required speed. If the torque ratio is greater than the first threshold or less than the second threshold, it indicates that the change in the required speed causes an excessive difference in the output torque of the first motor and the second motor, resulting in excessive output from a single motor and unreasonable torque distribution. The second actual torque is adjusted to dynamically balance the output torque of the first motor and the second motor, while ensuring that the rotation of the first motor remains unchanged to meet the vehicle's required speed. This solves the problem in the prior art that it is impossible to reasonably distribute the torque of the two motors while meeting the required speed.

[0041] It should be noted that this method only performs closed-loop speed control on the first motor to meet the required vehicle speed, avoiding the control conflict caused by both motors performing closed-loop speed control, resulting in the total torque ratio not being within the corresponding range. The torque of the second motor is adjusted in real time, and the second motor is also subjected to closed-loop torque control, which solves the problem of control delay when both motors are controlled for torque (the delay of the VCU receiving the actual speed of the motor via the CAN bus and the delay of the motor receiving the required torque from the VCU through the speed closed-loop control via the CAN bus).

[0042] In order to reasonably distribute torque, in one optional implementation, step S204 above includes:

[0043] Step S2041: When the torque percentage is greater than the first threshold or the torque percentage is less than the second threshold, the speed of the first motor is kept constant and the second actual torque is adjusted to the product of the total torque and the third threshold. The third threshold is greater than the second threshold and less than the first threshold. The second threshold is the difference between 100% and the first threshold.

[0044] In the above embodiments, if the torque percentage is greater than the first threshold and the first threshold is greater than or equal to 50%, it indicates that the first motor outputs more torque than the second motor. Alternatively, if the torque percentage is less than the second threshold and the second threshold is the difference between 100% and the first threshold (the first threshold is less than or equal to 50%), it indicates that the first motor outputs less torque than the second motor, and the torque distribution is unreasonable. By controlling the speed of the first motor to remain constant to ensure that the required vehicle speed is met, the second actual torque is adjusted to the product of the total torque and the third threshold. The third threshold is greater than the second threshold and less than the first threshold, which can reduce the difference in torque output between the first motor and the second motor and reasonably distribute the torque.

[0045] In order to reasonably distribute the torque, in an optional embodiment, step S204 above further includes:

[0046] Step S2042: When the torque ratio is greater than the first threshold, the speed of the first motor is kept constant and the second actual torque is increased.

[0047] Step S2043: When the torque percentage is less than the second threshold, the speed of the first motor is kept constant and the second actual torque is reduced.

[0048] In the above embodiments, if the torque percentage is greater than the first threshold and the first threshold is greater than or equal to 50%, that is, if the torque percentage is greater than 50%, it indicates that the first motor has a higher torque output than the second motor. By keeping the speed of the first motor constant to meet the required vehicle speed and increasing the second actual torque, the difference in torque output between the first motor and the second motor can be reduced, and the torque can be allocated reasonably. If the torque percentage is less than the second threshold and the first threshold is less than or equal to 50%, that is, if the torque percentage is less than 50%, it indicates that the first motor has a lower torque output than the second motor. By keeping the speed of the first motor constant to meet the required vehicle speed and decreasing the second actual torque, the difference in torque output between the first motor and the second motor can be reduced, and the torque can be allocated reasonably.

[0049] To reduce the frequency of torque adjustment, in one optional implementation, after calculating the ratio of the first actual torque to the total torque to obtain the torque percentage, the method further includes:

[0050] Step S301: When the torque percentage is less than or equal to the first threshold and the torque percentage is greater than or equal to the second threshold, the speed of the first motor is kept constant and the second actual torque is kept constant.

[0051] In the above embodiments, if the torque ratio is less than or equal to the first threshold and the torque ratio is greater than or equal to the second threshold, it indicates that the torque output of the first motor and the torque output of the second motor are not significantly different. Therefore, it is sufficient to keep the second actual torque constant, thereby reducing the torque adjustment frequency and improving stability.

[0052] To meet the required vehicle speed, in one optional implementation, step S201 includes:

[0053] Step S2011: Obtain the throttle opening of the aforementioned vehicle;

[0054] Step S2012: Based on the above throttle opening, look up the target mapping relationship to obtain the above required vehicle speed. The above target mapping relationship is the mapping relationship between the above throttle opening and the above required vehicle speed.

[0055] Step S2013: Calculate the required engine speed based on the required vehicle speed.

[0056] In the above implementation, when the vehicle is in driving mode, the VCU obtains the throttle opening through the throttle sensor, performs a one-dimensional lookup table based on the throttle opening to obtain the required vehicle speed, and then calculates the required speed corresponding to the required vehicle speed based on the transmission relationship to perform closed-loop speed control.

[0057] To achieve closed-loop speed control, one possible implementation method is as follows: Figure 2 As shown, the vehicle also includes a reducer 40. The first motor 20 and the second motor 30 are both connected to the wheel 10 through the reducer 40. Step S2013 includes:

[0058] Step S20131: Obtain the wheel radius of the aforementioned wheel and the transmission ratio of the aforementioned reducer;

[0059] Step S20132: Calculate the required rotational speed based on the required vehicle speed, the wheel radius, and the transmission ratio.

[0060] In the above implementation, the required speed n of the first motor is calculated by substituting the wheel radius r, the reducer transmission ratio i, and the required vehicle speed v into n = 1000iv / 60*2πr, thus enabling closed-loop speed control. Additionally, as... Figure 2 As shown, the vehicle also includes a first MCU 50 and a second MCU 60. The first MCU is used to control the speed of the first motor, and the second MCU is used to control the torque of the second motor.

[0061] To enable those skilled in the art to better understand the technical solution of this application, the implementation process of the single-wheel dual-motor control method of this application will be described in detail below with reference to specific embodiments.

[0062] This embodiment relates to a specific single-wheel dual-motor control method, such as... Figure 4 As shown, it includes the following steps:

[0063] When the vehicle is in drive mode, the VCU obtains the throttle opening through the throttle sensor and performs a one-dimensional lookup table to obtain the required vehicle speed. Then, based on the wheel radius, reducer gear ratio, and required vehicle speed, it calculates the required speed of motor 1 and sends the required speed and speed control mode of motor 1 to the motor 1 controller via CAN message (motor 1 operates in speed control mode). The actual torque of motors 1 and 2 is obtained in real time via CAN message, and the ratio of the actual torque of motor 1 to the sum of the torques of motors 1 and 2 is calculated. If this ratio is greater than threshold 1 (a number between 0 and 1) or less than (1 - threshold 1), the required torque of motor 2 needs to be updated, obtained by multiplying the total torque of motors 1 and 2 by threshold 2. The required torque of motor 2, obtained through RAMP, is sent to the motor 2 controller via the CAN bus, simultaneously indicating that the control mode of motor 2 is torque control mode. If the ratio is between threshold 1 and (1 - threshold 1), the required torque sent to motor 2 retains the previously calculated required torque value, and the control mode remains torque control. This achieves a control method of controlling the speed of motor 1 and the torque of motor 2 in drive mode.

[0064] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0065] This application also provides a single-wheel dual-motor control device. It should be noted that the single-wheel dual-motor control device of this application can be used to execute the single-wheel dual-motor control method provided in this application. This device is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0066] The following describes the single-wheel dual-motor control device provided in the embodiments of this application.

[0067] Figure 5 This is a structural block diagram of a single-wheel dual-motor control device according to an embodiment of this application. Figure 5 As shown, the device includes:

[0068] The first acquisition unit 100 is used to acquire the required speed and adjust the speed of the first motor to the required speed, wherein the required speed is the speed of the first motor that meets the required vehicle speed of the vehicle.

[0069] The second acquisition unit 200 is used to acquire the current actual torque of the first motor to obtain the first actual torque, and to acquire the current actual torque of the second motor to obtain the second actual torque.

[0070] The calculation unit 300 is used to calculate the sum of the first actual torque and the second actual torque to obtain the total torque, and to calculate the ratio of the first actual torque to the total torque to obtain the torque percentage.

[0071] The first control unit 400 is configured to control the speed of the first motor to remain constant and adjust the second actual torque when the torque percentage is greater than a first threshold or less than a second threshold, so as to reduce the absolute value of the difference between the first actual torque and the second actual torque, wherein the first threshold is greater than or equal to 50% and the second threshold is less than or equal to 50%.

[0072] In the above-mentioned single-wheel dual-motor control method, by adjusting the speed of the first motor to the required speed, the wheels can be driven to meet the vehicle's required speed. If the torque ratio is greater than the first threshold or less than the second threshold, it indicates that the change in the required speed causes an excessive difference in the output torque of the first motor and the second motor, resulting in excessive output from a single motor and unreasonable torque distribution. The second actual torque is adjusted to dynamically balance the output torque of the first motor and the second motor, while ensuring that the rotation of the first motor remains unchanged to meet the vehicle's required speed. This solves the problem in the prior art that it is impossible to reasonably distribute the torque of the two motors while meeting the required speed.

[0073] It should be noted that this method only performs closed-loop speed control on the first motor to meet the required vehicle speed, avoiding the control conflict caused by both motors performing closed-loop speed control, resulting in the total torque ratio not being within the corresponding range. The torque of the second motor is adjusted in real time, and the second motor is also subjected to closed-loop torque control, which solves the problem of control delay when both motors are controlled for torque (the delay of the VCU receiving the actual speed of the motor via the CAN bus and the delay of the motor receiving the required torque from the VCU through the speed closed-loop control via the CAN bus).

[0074] In an optional implementation, to rationally distribute torque, the first control unit includes:

[0075] The first control module is used to control the speed of the first motor to remain unchanged and adjust the second actual torque to the product of the total torque and the third threshold when the torque percentage is greater than the first threshold or less than the second threshold. The third threshold is greater than the second threshold and less than the first threshold. The second threshold is the difference between 100% and the first threshold.

[0076] In the above embodiments, if the torque percentage is greater than the first threshold and the first threshold is greater than or equal to 50%, it indicates that the first motor outputs more torque than the second motor. Alternatively, if the torque percentage is less than the second threshold and the second threshold is the difference between 100% and the first threshold (the first threshold is less than or equal to 50%), it indicates that the first motor outputs less torque than the second motor, and the torque distribution is unreasonable. By controlling the speed of the first motor to remain constant to ensure that the required vehicle speed is met, the second actual torque is adjusted to the product of the total torque and the third threshold. The third threshold is greater than the second threshold and less than the first threshold, which can reduce the difference in torque output between the first motor and the second motor and reasonably distribute the torque.

[0077] To rationally distribute torque, in one optional implementation, the first control unit further includes:

[0078] The second control module is used to control the speed of the first motor to remain constant and increase the second actual torque when the torque ratio is greater than the first threshold.

[0079] The third control module is used to control the speed of the first motor to remain constant and reduce the second actual torque when the torque ratio is less than the second threshold.

[0080] In the above embodiments, if the torque percentage is greater than the first threshold and the first threshold is greater than or equal to 50%, that is, if the torque percentage is greater than 50%, it indicates that the first motor has a higher torque output than the second motor. By keeping the speed of the first motor constant to meet the required vehicle speed and increasing the second actual torque, the difference in torque output between the first motor and the second motor can be reduced, and the torque can be allocated reasonably. If the torque percentage is less than the second threshold and the first threshold is less than or equal to 50%, that is, if the torque percentage is less than 50%, it indicates that the first motor has a lower torque output than the second motor. By keeping the speed of the first motor constant to meet the required vehicle speed and decreasing the second actual torque, the difference in torque output between the first motor and the second motor can be reduced, and the torque can be allocated reasonably.

[0081] To reduce the frequency of torque adjustment, in one optional embodiment, the above-mentioned device further includes:

[0082] The second control unit is configured to, after calculating the ratio of the first actual torque to the total torque to obtain the torque percentage, control the speed of the first motor to remain constant and control the second actual torque to remain constant when the torque percentage is less than or equal to the first threshold and greater than or equal to the second threshold.

[0083] In the above embodiments, if the torque ratio is less than or equal to the first threshold and the torque ratio is greater than or equal to the second threshold, it indicates that the torque output of the first motor and the torque output of the second motor are not significantly different. Therefore, it is sufficient to keep the second actual torque constant, thereby reducing the torque adjustment frequency and improving stability.

[0084] To meet the required vehicle speed, in one optional implementation, the first acquisition unit includes:

[0085] The first acquisition module is used to acquire the throttle opening of the aforementioned vehicle;

[0086] The query module is used to obtain the required vehicle speed by looking up the target mapping relationship based on the above throttle opening. The target mapping relationship is the mapping relationship between the above throttle opening and the above required vehicle speed.

[0087] The calculation module is used to calculate the required rotational speed based on the required vehicle speed.

[0088] In the above implementation, when the vehicle is in driving mode, the VCU obtains the throttle opening through the throttle sensor, performs a one-dimensional lookup table based on the throttle opening to obtain the required vehicle speed, and then calculates the required speed corresponding to the required vehicle speed based on the transmission relationship to perform closed-loop speed control.

[0089] To achieve closed-loop speed control, one possible implementation method is as follows: Figure 2As shown, the vehicle also includes a reducer 40, and both the first motor 20 and the second motor 30 are connected to the wheel 10 via the reducer 40. The calculation module includes:

[0090] The acquisition submodule is used to acquire the wheel radius of the aforementioned wheels and the transmission ratio of the aforementioned reducer;

[0091] The calculation submodule is used to calculate the required rotational speed based on the required vehicle speed, the required wheel radius, and the required transmission ratio.

[0092] In the above implementation, the required speed n of the first motor is calculated by substituting the wheel radius r, the reducer transmission ratio i, and the required vehicle speed v into n = 1000iv / 60*2πr, thus enabling closed-loop speed control. Additionally, as... Figure 2 As shown, the vehicle also includes a first MCU 50 and a second MCU 60. The first MCU is used to control the speed of the first motor, and the second MCU is used to control the torque of the second motor.

[0093] The aforementioned single-wheel dual-motor control device includes a processor and a memory. The first acquisition unit, the second acquisition unit, the calculation unit, and the first control unit are all stored as program units in the memory. The processor executes the program units stored in the memory to achieve the corresponding functions. All of the above modules are located in the same processor; alternatively, the modules may be located in different processors in any combination.

[0094] The processor contains a kernel, which retrieves the corresponding program unit from memory. One or more kernels can be configured, and adjusting kernel parameters can address the problem in existing technologies where the required vehicle speed cannot be adequately distributed across the dual motors.

[0095] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0096] This invention provides a computer-readable storage medium that includes a stored program, wherein when the program is executed, it controls the device containing the computer-readable storage medium to perform the single-wheel dual-motor control method.

[0097] Specifically, the single-wheel dual-motor control method includes:

[0098] Step S201: Obtain the required speed and adjust the speed of the first motor to the required speed, wherein the required speed is the speed of the first motor that meets the required vehicle speed of the vehicle.

[0099] Step S202: Obtain the current actual torque of the first motor to obtain the first actual torque; obtain the current actual torque of the second motor to obtain the second actual torque.

[0100] Step S203: Calculate the sum of the first actual torque and the second actual torque to obtain the total torque, and calculate the ratio of the first actual torque to the total torque to obtain the torque percentage.

[0101] Step S204: When the torque percentage is greater than the first threshold or less than the second threshold, the speed of the first motor is kept constant and the second actual torque is adjusted to reduce the absolute value of the difference between the first actual torque and the second actual torque. The first threshold is greater than or equal to 50% and the second threshold is less than or equal to 50%.

[0102] This invention provides a processor for running a program, wherein the program executes the single-wheel dual-motor control method.

[0103] Specifically, the single-wheel dual-motor control method includes:

[0104] Step S201: Obtain the required speed and adjust the speed of the first motor to the required speed, wherein the required speed is the speed of the first motor that meets the required vehicle speed of the vehicle.

[0105] Step S202: Obtain the current actual torque of the first motor to obtain the first actual torque; obtain the current actual torque of the second motor to obtain the second actual torque.

[0106] Step S203: Calculate the sum of the first actual torque and the second actual torque to obtain the total torque, and calculate the ratio of the first actual torque to the total torque to obtain the torque percentage.

[0107] Step S204: When the torque percentage is greater than the first threshold or less than the second threshold, the speed of the first motor is kept constant and the second actual torque is adjusted to reduce the absolute value of the difference between the first actual torque and the second actual torque. The first threshold is greater than or equal to 50% and the second threshold is less than or equal to 50%.

[0108] This invention provides a vehicle, including wheels, a first motor, a second motor, a processor, a memory, and a program stored in the memory and executable on the processor. The first motor and the second motor jointly drive the wheels, and the processor executes the program to perform at least the following steps:

[0109] Step S201: Obtain the required speed and adjust the speed of the first motor to the required speed, wherein the required speed is the speed of the first motor that meets the required vehicle speed of the vehicle.

[0110] Step S202: Obtain the current actual torque of the first motor to obtain the first actual torque; obtain the current actual torque of the second motor to obtain the second actual torque.

[0111] Step S203: Calculate the sum of the first actual torque and the second actual torque to obtain the total torque, and calculate the ratio of the first actual torque to the total torque to obtain the torque percentage.

[0112] Step S204: When the torque percentage is greater than the first threshold or less than the second threshold, the speed of the first motor is kept constant and the second actual torque is adjusted to reduce the absolute value of the difference between the first actual torque and the second actual torque. The first threshold is greater than or equal to 50% and the second threshold is less than or equal to 50%.

[0113] This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having at least the following method steps:

[0114] Step S201: Obtain the required speed and adjust the speed of the first motor to the required speed, wherein the required speed is the speed of the first motor that meets the required vehicle speed of the vehicle.

[0115] Step S202: Obtain the current actual torque of the first motor to obtain the first actual torque; obtain the current actual torque of the second motor to obtain the second actual torque.

[0116] Step S203: Calculate the sum of the first actual torque and the second actual torque to obtain the total torque, and calculate the ratio of the first actual torque to the total torque to obtain the torque percentage.

[0117] Step S204: When the torque percentage is greater than the first threshold or less than the second threshold, the speed of the first motor is kept constant and the second actual torque is adjusted to reduce the absolute value of the difference between the first actual torque and the second actual torque. The first threshold is greater than or equal to 50% and the second threshold is less than or equal to 50%.

[0118] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0119] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0120] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0121] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0122] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0123] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0124] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0125] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0126] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0127] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0128] 1) In the single-wheel dual-motor control method of this application, by adjusting the speed of the first motor to the required speed, the wheels can be driven to meet the vehicle's required speed. If the torque ratio is greater than the first threshold or less than the second threshold, it indicates that the change in the required speed causes an excessive difference in the output torque of the first motor and the second motor, resulting in excessive output of a single motor and unreasonable torque distribution. The second actual torque is adjusted to dynamically balance the output torque of the first motor and the second motor, while ensuring that the rotation of the first motor remains unchanged, thus meeting the vehicle's required speed. This solves the problem in the prior art that it is impossible to reasonably distribute the torque of the dual motors while meeting the required speed.

[0129] 2) In the single-wheel dual-motor control device of this application, by adjusting the speed of the first motor to the required speed, the wheel can be driven to meet the vehicle's required speed. If the torque ratio is greater than the first threshold or less than the second threshold, it indicates that the change in the required speed causes an excessive difference in the output torque of the first motor and the second motor, resulting in excessive output of a single motor and unreasonable torque distribution. The second actual torque is adjusted to dynamically balance the output torque of the first motor and the second motor, while ensuring that the rotation of the first motor remains unchanged, thus meeting the vehicle's required speed. This solves the problem in the prior art that it is impossible to reasonably distribute the torque of the dual motors while meeting the required speed.

[0130] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A single-wheel dual-motor control method, characterized in that, The vehicle includes wheels, a first motor, and a second motor, wherein the first motor and the second motor jointly drive the wheels, and the method includes: Obtain the required rotational speed and adjust the rotational speed of the first motor to the required rotational speed, wherein the required rotational speed is the rotational speed of the first motor that meets the required vehicle speed; Obtain the current actual torque of the first motor to obtain the first actual torque; obtain the current actual torque of the second motor to obtain the second actual torque. Calculate the sum of the first actual torque and the second actual torque to obtain the total torque, and calculate the ratio of the first actual torque to the total torque to obtain the torque percentage; When the torque percentage is greater than a first threshold or less than a second threshold, the speed of the first motor is kept constant and the second actual torque is adjusted to reduce the absolute value of the difference between the first actual torque and the second actual torque, wherein the first threshold is greater than or equal to 50% and the second threshold is less than or equal to 50%.

2. The method according to claim 1, characterized in that, When the torque percentage is greater than a first threshold or less than a second threshold, the rotational speed of the first motor is kept constant and the second actual torque is adjusted to reduce the absolute value of the difference between the first actual torque and the second actual torque, including: When the torque percentage is greater than the first threshold or less than the second threshold, the speed of the first motor is kept constant and the second actual torque is adjusted to the product of the total torque and the third threshold, where the third threshold is greater than the second threshold and less than the first threshold, and the second threshold is the difference between 100% and the first threshold.

3. The method according to claim 1, characterized in that, When the torque percentage is greater than a first threshold or less than a second threshold, the rotational speed of the first motor is kept constant and the second actual torque is adjusted to reduce the absolute value of the difference between the first actual torque and the second actual torque, including: When the torque ratio is greater than the first threshold, the speed of the first motor is kept constant while the second actual torque is increased; When the torque percentage is less than the second threshold, the speed of the first motor is kept constant while the second actual torque is reduced.

4. The method according to any one of claims 1 to 3, characterized in that, After calculating the ratio of the first actual torque to the total torque to obtain the torque percentage, the method further includes: When the torque percentage is less than or equal to the first threshold and the torque percentage is greater than or equal to the second threshold, the speed of the first motor is kept constant and the second actual torque is kept constant.

5. The method according to any one of claims 1 to 3, characterized in that, To obtain the required rotational speed, including: Obtain the throttle opening of the vehicle; The required vehicle speed is obtained by looking up the target mapping relationship based on the throttle opening, where the target mapping relationship is the mapping relationship between the throttle opening and the required vehicle speed. The required rotational speed is calculated based on the required vehicle speed.

6. The method according to claim 5, characterized in that, The vehicle also includes a speed reducer, through which both the first motor and the second motor are connected to the wheels. The required rotational speed is calculated based on the required vehicle speed, including: Obtain the wheel radius of the wheel and the gear ratio of the reducer; The required rotational speed is calculated based on the required vehicle speed, the wheel radius, and the transmission ratio.

7. A single-wheel dual-motor control device, characterized in that, The vehicle includes wheels, a first motor, and a second motor, the first motor and the second motor jointly driving the wheels. The device includes: The first acquisition unit is used to acquire the required rotational speed and adjust the rotational speed of the first motor to the required rotational speed, wherein the required rotational speed is the rotational speed of the first motor that meets the required vehicle speed of the vehicle. The second acquisition unit is used to acquire the current actual torque of the first motor to obtain the first actual torque, and to acquire the current actual torque of the second motor to obtain the second actual torque. The calculation unit is used to calculate the sum of the first actual torque and the second actual torque to obtain the total torque, and to calculate the ratio of the first actual torque to the total torque to obtain the torque percentage. The first control unit is configured to control the speed of the first motor to remain constant and adjust the second actual torque when the torque percentage is greater than a first threshold or less than a second threshold, so as to reduce the absolute value of the difference between the first actual torque and the second actual torque, wherein the first threshold is greater than or equal to 50% and the second threshold is less than or equal to 50%.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the method according to any one of claims 1 to 6.

9. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the method described in any one of claims 1 to 6.

10. A vehicle, characterized in that, include: A wheel, a first motor, a second motor, one or more processors, a memory, and one or more programs, wherein the first motor and the second motor jointly drive the wheel, the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including methods for performing any one of claims 1 to 6.

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