A driving device, a motor output torque control method and an electric loader

Abstract

The present invention discloses a drive device, a motor output torque control method and an electric loader. The drive device of the present invention adopts a dual-motor drive structure, and two small motors are used to replace a single large motor, thereby reducing the hardware requirements of the electric drive system for IGBTs and reducing heat generation. The two motors have different high-efficiency ranges, one is concentrated in medium and low torque areas, and the other is concentrated in medium and high torque areas, which can cover the output scenarios of the low, medium and high torque ranges of the whole machine. Through appropriate torque control, the drive system can always operate in a high-efficiency range; and the torque control of the present invention first performs initial control according to the output torque demand, and then uses an iterative method to perform single-point adjustment and range adjustment in turn according to actual power consumption, which can improve the adaptability of the equipment to unknown working conditions, ensure that it always operates at a high-efficiency point, and improve the energy efficiency ratio and power performance of the drive system.

Description

Technical Field

[0001] The invention relates to a driving device, a motor output torque control method and an electric loader, and belongs to the technical field of vehicle motor driving. Background Art

[0002] The current driving device of electric loaders is mainly driven by a single large motor plus a gearbox. The single motor is constrained by its hardware configuration, its working range is less adjustable, the hardware requirements for IGBT are high, and there is a large amount of heat generated. Summary of the invention

[0003] The present invention provides a driving device, a motor output torque control method and an electric loader, which solve the problems disclosed in the background technology.

[0004] According to one aspect of the present disclosure, a drive device is provided, including a first motor and a second motor, the first motor and the second motor forming a dual-motor drive structure, the efficiency MAP diagrams of the first motor and the second motor have different high-efficiency ranges, the high-efficiency range of the first motor is concentrated in a medium and low torque region, the high-efficiency range of the second motor is concentrated in a medium and high torque region, the maximum speeds of the first motor and the second motor are the same, and the maximum torques of the first motor and the second motor are different.

[0005] According to another aspect of the present disclosure, a motor output torque control method is provided, the method being applicable to a dual-motor drive structure consisting of a first motor and a second motor, the method comprising:

[0006] The output torque requirement of the device is calculated according to the opening signal of the accelerator pedal, the opening signal of the brake pedal, the gear position signal of the working handle and the preset working mode; wherein the device is a device driven by a dual-motor drive structure, and the working condition is the device working condition;

[0007] Determine an optimal initial allocation ratio according to the output torque demand, the efficiency MAP of the first motor, the efficiency MAP of the second motor, and the constraints of the preset operating mode; wherein the allocation ratio is the ratio of the output torque demand to the first motor and the second motor;

[0008] Initially controlling the output torque of the first motor and the output torque of the second motor according to the optimal initial distribution ratio;

[0009] After the initial control, single-point adjustment and interval adjustment are performed in sequence; wherein, the single-point adjustment is to adjust the output torque of the first motor and the second motor at a later moment according to the actual power consumption of the first motor and the second motor after the output torque control at a previous moment; the interval adjustment is to adjust the output torque of the first motor and the second motor at each moment in a later interval according to the actual power consumption of the first motor and the second motor after the output torque control at each moment in the previous interval; the interval duration is from the end moment of the single-point adjustment to the moment when the accumulated difference is greater than the threshold, and the difference is the difference between the actual power consumption of the device and the corresponding theoretical power consumption of the device at the same moment after the end of the single-point adjustment.

[0010] In some embodiments of the present disclosure, single-point adjustment includes online single-point adjustment and offline single-point adjustment, and interval adjustment includes online interval adjustment and offline interval adjustment;

[0011] Single point adjustment and interval adjustment are performed in sequence, including:

[0012] If the preset working condition mode is consistent with the actual working condition mode before the initial control, online single-point adjustment and online interval adjustment are performed in sequence;

[0013] If the preset operating mode is inconsistent with the actual operating mode before the initial control, perform offline single-point adjustment and offline interval adjustment in sequence.

[0014] In some embodiments of the present disclosure, the process of changing from online single-point adjustment to online interval adjustment is:

[0015] If the actual power consumption of the device after output torque control at the previous moment is P _rn (t-1) The theoretical power consumption P of the equipment corresponding to the preset working condition curve _tn The difference E of (t-1) n (t-1) is greater than the preset maximum power difference gradient value E max1 , then the online single-point adjustment will continue at the next moment; wherein the preset working condition curve is the working condition curve corresponding to the preset working condition mode;

[0016] If E n (t-1) not greater than E max1 , then the difference between each moment in the interval is accumulated from the next moment. If the accumulated difference of an interval is greater than the preset maximum value of the accumulated power difference gradient ∑E max1 , then the next interval is adjusted online;

[0017] The process of changing from offline single-point adjustment to offline interval adjustment is as follows:

[0018] If P _rn (t-1) The theoretical power consumption P of the equipment corresponding to the actual working condition curve _rtn The difference E of (t-1) rn(t-1) is greater than the preset maximum power difference gradient value E max2 , then continue to perform offline single-point adjustment at the next moment;

[0019] If E rn (t-1) not greater than E max2 , then the difference between each moment in the interval is accumulated from the next moment. If the accumulated difference of an interval is greater than the preset maximum value of the accumulated power difference gradient ∑E max2 , then the next interval is adjusted offline.

[0020] In some embodiments of the present disclosure, single-point adjustment includes:

[0021] A1) Calculate the actual power consumption P of the first motor after output torque control at the previous moment _1n (t-1) corresponds to the theoretical power consumption P of the first motor _1tn The difference E of (t-1) 1n (t-1), calculate the actual power consumption P of the second motor after the output torque control at the previous moment _2n (t-1) and the corresponding second motor theoretical power consumption P _2tn The difference E of (t-1) 2n (t-1); where, if the single-point adjustment is online single-point adjustment, the theoretical power consumption of the motor is the theoretical power consumption of the motor corresponding to the preset operating curve; if the single-point adjustment is offline single-point adjustment, the theoretical power consumption of the motor is the theoretical power consumption of the motor corresponding to the actual operating curve;

[0022] A2) According to E 1n (t-1) and E 2n (t-1), calculate the calibration coefficient;

[0023] A3) calculating a single-point alternative solution according to the calibration coefficient; wherein the single-point alternative solution includes the output torque of the first motor and the second motor at a later moment;

[0024] A4) Verify the single-point alternative solution. If the verification fails, use the correction coefficient to adjust the calibration coefficient and go to A3); if the verification passes, use the single-point alternative solution as the single-point formal solution and use the single-point formal solution to adjust the output torque of the first motor and the second motor at a later moment.

[0025] In some embodiments of the present disclosure, a single-point alternative is calculated based on the calibration coefficient, including:

[0026] If the calibration coefficient is within the set coefficient range [λ min ,λ max ], then the output torque of the first motor at the next moment is T 1_n ×(1+λ n ), the second motor output torque at the next moment is T2_n ×(1-λ n ), where T 1_n and T 2_n are the output torque of the first motor and the second motor at the previous moment, respectively, n is the calibration coefficient, λ min and λ max They are the lower limit and upper limit of the setting coefficient range corresponding to the calibration coefficient respectively;

[0027] If the calibration coefficient is not within the set coefficient range [λ min ,λ max ], then the output torque of the first motor at the next moment is T 1_n ×(1+λ max ), the second motor output torque at the next moment is T 2_n ×(1-λ max ).

[0028] In some embodiments of the present disclosure, the single-point alternative solution is verified. If the verification fails, the correction coefficient is used to adjust the calibration coefficient, and the process goes to A3); if the verification passes, the single-point alternative solution is used as the single-point formal solution, and the output torque of the first motor and the second motor at a later moment is adjusted using the single-point formal solution, including:

[0029] B1) Calculate the total power consumption P of all motors after the single-point alternative solution is implemented _brn And the actual power consumption of the device P _rn ;

[0030] B2) If P _brn Not less than P _rn , go to B3); if P _brn Less than P _rn , go to B4);

[0031] B3) According to P _brn With P _rn The difference between the first correction coefficient and the old calibration coefficient is calculated, and the product of the first correction coefficient and the old calibration coefficient is used as the new calibration coefficient, and transferred to A3);

[0032] B4) If the current characteristic matrix change rate is not less than the first convergence extreme, the change trend of the characteristic matrix is ​​used to calculate the second correction coefficient, and the product of the second correction coefficient and the old calibration coefficient is used as the new calibration coefficient, and then go to A3); wherein the characteristic matrix is ​​initially an empty matrix, and each time a new calibration coefficient is generated, the characteristic matrix is ​​added;

[0033] If the rate of change of the characteristic matrix is ​​less than the first convergence limit, the verification is passed, and the single-point alternative solution is used as the single-point formal solution, and the single-point formal solution is used to adjust the output torque of the first motor and the second motor at a later moment.

[0034] In some embodiments of the present disclosure, the interval adjustment includes:

[0035] C1) Calculate the actual power consumption P of the first motor after output torque control at each moment in the previous interval _1n The corresponding first motor theoretical power consumption P _1tn The difference E 1n , calculate the actual power consumption P of the second motor after output torque control at each moment in the previous interval _2n The corresponding second motor theoretical power consumption P _2tn The difference E 2n ; Among them, if the interval adjustment is an online interval adjustment, the theoretical power consumption of the motor is the theoretical power consumption of the motor corresponding to the preset working condition curve; if the interval adjustment is an offline interval adjustment, the theoretical power consumption of the motor is the theoretical power consumption of the motor corresponding to the actual working condition curve;

[0036] C2) According to E at each moment 1n and E 1n , calculate the calibration coefficient matrix of the interval;

[0037] C3) calculating an interval alternative scheme according to the calibration coefficient matrix; wherein the interval alternative scheme includes the output torque of the first motor and the second motor at each moment in the next interval;

[0038] C4) Verify the interval alternative plan. If the verification fails, use the correction coefficient to adjust the calibration coefficient matrix and go to C3); if the verification passes, use the interval alternative plan as the interval formal plan, and use the interval formal plan to adjust the output torque of the first motor and the second motor at each moment in the next interval.

[0039] In some embodiments of the present disclosure, the interval alternatives are calculated according to the calibration coefficient matrix, including:

[0040] If the i-th calibration coefficient in the calibration coefficient matrix is ​​within the set coefficient range [δ imin ,δ imax ], then the output torque of the first motor at the i-th moment in the next interval is T 1_n_i ×(1+δ i ), the second motor output torque at the i-th moment in the next interval is T 2_n_i ×(1-δ i ), where T 1_n_i and T 2_n_i are the output torque of the first motor and the output torque of the second motor at the i-th moment in the previous interval, δ i is the i-th calibration coefficient in the calibration coefficient matrix, δ imin and δ imax are the lower limit and upper limit of the set coefficient range corresponding to the i-th calibration coefficient respectively;

[0041] If the i-th calibration coefficient in the calibration coefficient matrix is ​​not within the set coefficient range [δ imin ,δ imax ], then the output torque of the first motor at the i-th moment in the next interval is T 1_n_i ×(1+δ imax ), the second motor output torque at the i-th moment in the next interval is T 2_n_i ×(1-δ imax ).

[0042] In some embodiments of the present disclosure, the interval alternative scheme is verified. If the verification fails, the correction coefficient is used to adjust the calibration coefficient matrix, and the process goes to C3); if the verification passes, the interval alternative scheme is used as the interval formal scheme, and the output torque of the first motor and the second motor at each moment in the next interval is adjusted using the interval formal scheme, including:

[0043] D1) Calculate the total power consumption of all motors after the implementation of the alternative plan in the calculation interval ∑P _brn And the accumulated actual power consumption of the equipment ∑P _rn ;

[0044] D2) If ∑P _brn Not less than ∑P _rn , go to D3); if ∑P _brn Less than ∑P _rn , go to D4);

[0045] D3) According to the total power consumption P of the motor at each moment after the implementation of the interval alternative plan _brn The actual power consumption of the device P _rn The difference between the third correction coefficient and the old calibration coefficient matrix is ​​calculated, and the third correction coefficient is multiplied by the old calibration coefficient matrix to obtain a new calibration coefficient matrix, which is transferred to C3);

[0046] D4) If the current characteristic matrix change rate is not less than the second convergence extreme, the change trend of the characteristic matrix is ​​used to calculate the fourth correction coefficient, and the fourth correction coefficient is multiplied by the old calibration coefficient matrix as the new calibration coefficient matrix, and then transferred to C3); wherein, the characteristic matrix is ​​initially an empty matrix, and each time a new calibration coefficient is generated, the characteristic matrix is ​​added;

[0047] If the rate of change of the characteristic matrix is ​​less than the second convergence limit, the verification is passed, and the interval alternative plan is used as the interval formal plan. The interval formal plan is used to adjust the output torque of the first motor and the second motor at each moment in the next interval.

[0048] According to another aspect of the present disclosure, there is provided an electric loader, characterized in that it comprises the above-mentioned drive device and / or the above-mentioned motor output torque control method.

[0049] The beneficial effects achieved by the present invention are as follows: 1. The drive device of the present invention adopts a dual-motor drive structure, and two small motors are used to replace a single large motor, which reduces the hardware requirements of the electric drive system for IGBT and reduces heat generation, and the two motors have different high-efficiency ranges, one is concentrated in the medium and low torque areas, and the other is concentrated in the medium and high torque areas, which can cover the low, medium and high torque range output scenarios of the whole machine. Through proper torque control, the drive system can always operate in a high-efficiency range; 2. The torque control of the present invention first performs initial control according to the output torque demand, and then uses an iterative method to perform single-point adjustment and range adjustment in turn according to actual power consumption, which can improve the adaptability of the equipment to unknown working conditions, ensure that it always operates at a high-efficiency point, and improve the energy efficiency ratio and power performance of the drive system. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 is a schematic diagram of the structure of the driving device;

[0051] Figure 2 is a flow chart of a motor output torque control method;

[0052] Figure 3 Select flow chart for online or offline adjustments;

[0053] Figure 4 This is a flow chart for changing from online single-point adjustment to online interval adjustment;

[0054] Figure 5 A flowchart for changing from offline single-point adjustment to offline interval adjustment;

[0055] Figure 6 Adjust the flow chart for a single point;

[0056] Figure 7 Validate flow charts for single point alternatives;

[0057] Figure 8 Adjust the flow chart for the interval;

[0058] Fig. 9 Validate flow charts for interval alternatives;

[0059] Fig.10 Adjust the schematic for a single point;

[0060] Fig.11 Schematic diagram for interval adjustment. DETAILED DESCRIPTION

[0061] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. It is obvious that the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present disclosure and its application or use. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present disclosure.

[0062] Unless otherwise specified, the relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure.

[0063] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0064] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0065] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0066] It should be noted that similar symbols and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it does not require further discussion in subsequent figures.

[0067] In order to solve the problems existing in the existing driving devices in the background technology, the present disclosure provides a driving device, a motor output torque control method and an electric loader.

[0068] Figure 1 It is a schematic diagram of an embodiment of the drive device disclosed in the present invention, comprising a first motor 1 and a second motor 2, the first motor 1 and the second motor 2 forming a dual-motor drive structure, the efficiency MAP diagrams of the first motor 1 and the second motor 2 having different high-efficiency ranges, the high-efficiency range of the first motor 1 being concentrated in the medium and low torque regions, the high-efficiency range of the second motor 2 being concentrated in the medium and high torque regions, the maximum speeds of the first motor 1 and the second motor 2 being the same, and the maximum torques of the first motor 1 and the second motor 2 being different.

[0069] It should be noted that low, medium and high torques are divided according to the hardware capabilities and working conditions, and there is no specific value. Generally, the torque that can meet driving needs is the low torque, the torque that meets the rated working conditions is the medium torque area, and the torque that meets the peak / heavy working conditions is the high torque area.

[0070] It should be noted that the first motor 1 and the second motor 2 are arranged in an opposing manner, and the two motors drive the transmission shaft through a fixed speed ratio reducer 3 or a gearbox.

[0071] The connection structure of the gearbox is an existing structure and is not described in detail here. Since the transmission mechanism of the gearbox is complex, the input and output torques are large, and the mechanical failure rate is usually high, it is preferred to use a fixed speed ratio reducer 3 for transmission. Figure 1 The fixed speed ratio reducer 3 includes an input shaft, an output shaft, and a single speed ratio gear transmission is used between the input shaft and the output shaft. The two ends of the input shaft are respectively connected to the rotating shafts of the first motor 1 and the second motor 2, and the two ends of the output shaft are respectively connected to the front transmission shaft 4 and the rear transmission shaft 5. Since the input shaft and the output shaft of the fixed speed ratio reducer 3 are rigidly connected at both ends, the synchronization rate of the transmission system is improved, and the structural strength is improved. The single speed ratio gear transmission can reduce the transmission level loss, the transmission structure is simple, and the speed is adjusted by the motor, which significantly reduces the mechanical failure rate.

[0072] It should be noted that the above-mentioned motor uses a high-speed permanent magnet synchronous motor. Of course, an asynchronous motor can also be used, depending on the actual situation. The maximum speed of the motor is not less than 3000rpm, and the output torque of the two motors is controlled by the equipment controller; among them, the equipment here is a dual-motor drive structure driven equipment, which can be an electric vehicle, electric loader, etc.

[0073] The above-mentioned drive device adopts a dual-motor drive structure, with two small motors replacing a single large motor, which reduces the electric drive system's hardware requirements for IGBTs and reduces heat generation. The two motors have different high-efficiency ranges, one concentrated in the medium and low torque areas, and the other concentrated in the medium and high torque areas, which can cover the low, medium and high torque output scenarios of the entire machine. Through appropriate torque control, the drive system can always operate in a high-efficiency range.

[0074] It should be noted that the above two motors can independently realize the driving or electric braking function, ensuring that the equipment can provide driving force and braking force when a single motor has problems, providing double protection for production and safety.

[0075] Figure 2 FIG. 1 is a schematic diagram of an embodiment of the motor output torque control method disclosed in the present invention. The method is applicable to a dual-motor drive structure composed of a first motor 1 and a second motor 2, that is, applicable to Figure 1 A drive device or any dual-motor drive structure, Figure 2 The embodiments may be executed by a device controller, such as a vehicle-mounted controller of an electric vehicle, an electric loader, etc.

[0076] like Figure 2As shown, step 1 of the embodiment calculates the output torque requirement of the equipment according to the opening signal of the accelerator pedal, the opening signal of the brake pedal, the gear signal of the working handle and the preset working mode; wherein the working condition is the equipment working condition.

[0077] It should be noted that the accelerator pedal is used to input the driver's acceleration intention, and the brake pedal is used to input the driver's braking intention, and both are represented by opening signals. The working handle is used to input the target action of the working device to adapt to the working scene, and is mainly represented by gear signals. The preset working mode can be set through a touch instrument, and the existing working modes mainly include self-identification mode and specific working mode; among them, the self-identification mode is the working mode of automatically identifying the equipment. Taking the electric loader as an example, the specific working mode includes transfer mode, material transportation mode, loading mode, stacking mode, bulldozer mode and other specific modes.

[0078] return Figure 2 In step 2 of the embodiment, the optimal initial allocation ratio is determined according to the output torque demand, the efficiency MAP diagram of the first motor 1, the efficiency MAP diagram of the second motor 2 and the constraints of the preset operating mode; wherein the allocation ratio is the ratio of the output torque demand to the first motor 1 and the second motor 2.

[0079] It should be noted that the motor efficiency MAP diagram is an ignition control curve diagram, which mainly reflects the distribution of motor efficiency at different speeds and torques. In layman's terms, it is an efficiency distribution diagram.

[0080] Specifically, all initial allocation ratios can be determined according to the output torque demand, the efficiency MAP diagram of the first motor 1 and the efficiency MAP diagram of the second motor 2; and the optimal initial allocation ratio can be determined from all initial allocation ratios according to the restriction conditions of the preset operating mode.

[0081] It should be noted that the efficiency maximization calculation can be performed according to the torque efficiency MAP of the two motors through standard operating data, and the torque can be preliminarily distributed according to the calculation results. Finally, it can be evaluated and screened through the laboratory bench to obtain the optimal initial distribution ratio.

[0082] return Figure 2 In step 3 of the embodiment, the output torque of the first motor 1 and the output torque of the second motor 2 are initially controlled according to the optimal initial distribution ratio.

[0083] return Figure 2, step 4 of the embodiment, after the initial control, single-point adjustment and interval adjustment are performed in sequence; wherein the single-point adjustment is to adjust the output torque of the first motor 1 and the second motor 2 at the next moment according to the actual power consumption of the first motor 1 and the second motor 2 after the output torque control at the previous moment; the interval adjustment is to adjust the output torque of the first motor 1 and the second motor 2 at each moment in the next interval according to the actual power consumption of the first motor 1 and the second motor 2 after the output torque control at each moment in the previous interval; the interval duration is from the end of the single-point adjustment to the cumulative difference being greater than the threshold value (i.e., the ∑E max1 ,∑E max2 ) moment, the difference is the difference between the actual power consumption of the device and the corresponding theoretical power consumption of the device at the same moment after the single-point adjustment is completed.

[0084] It should be noted that, taking electric loaders as an example, the operating conditions are complex and changeable, and the environment is usually very harsh. It is difficult to achieve long-term efficiency maximization with a fixed allocation method. Therefore, the high-efficiency operation of the equipment throughout its entire life cycle can be ensured through adjustment and iteration.

[0085] Single-point adjustment mainly includes online single-point adjustment and offline single-point adjustment, and interval adjustment mainly includes online interval adjustment and offline interval adjustment. The choice of online or offline depends on the working conditions, see Figure 3 The details are as follows:

[0086] If the preset operating mode is a self-identification mode, it is considered that the preset operating mode is always consistent with the actual operating mode, and online single-point adjustment and online interval adjustment are performed in sequence; if the preset operating mode is consistent with the actual operating mode before the initial control, online single-point adjustment and online interval adjustment are performed in sequence; if the preset operating mode is inconsistent with the actual operating mode before the initial control, offline single-point adjustment and offline interval adjustment are performed in sequence.

[0087] It should be noted that online adjustment is the consistency between the actual working condition and the selected working condition, while offline adjustment is the inconsistency between the actual working condition and the selected working condition; ideally, the conditions selected by the driver are consistent with the actual conditions, but this is difficult to guarantee under realistic conditions. Secondly, the preset working conditions in the equipment are obtained by comprehensively considering the overall output requirements of the equipment, motor performance parameters, and working condition output characteristics. The output of the entire system is developed around them, and they ensure the stable operation of the system. Another thing is that the equipment has a priority in identifying working conditions, first comparing it with the currently selected mode, and then comparing it with other unselected modes. If all are online, when encountering inconsistencies, the currently selected preset working condition may be modified to a completely different working condition. The next time you go to a different environment for construction, you will have to make another "large-scale" adjustment, which will have certain risks for the stability of the system; if all are offline, the meaning of real-time update combined with working conditions is lost; and the combination of offline and online methods here can take into account both efficiency maximization and system stability.

[0088] It should be noted that the actual operating condition mode determination before the initial control can be carried out simultaneously with the steps before the initial control. Specifically, the actual operating condition can be determined based on the gear signal of the working handle, the load signal of the hydraulic powertrain, the pressure signal of the pressure sensor, the gear switching rule, the opening signal of the accelerator pedal, the opening signal of the brake pedal, and the energy storage signal of the energy storage device. The operating conditions here are the specific operating conditions mentioned above.

[0089] It should be noted that the pressure sensor is mainly used to obtain the working cylinder pressure to confirm the load change, the hydraulic power assembly is used to obtain the load change, and the energy storage device is used to store electrical energy during the charging and discharging process of the whole machine.

[0090] It should be noted that after the initial control, single-point adjustment is performed first. After the single-point adjustment has been performed for a certain period of time, all subsequent interval adjustments are performed. Therefore, the switching process between the two adjustments can be as follows:

[0091] like Figure 4 As shown, the process of changing from online single-point adjustment to online interval adjustment can be:

[0092] 11) Determine the actual power consumption P of the device after the output torque control at the previous moment _rn (t-1) The theoretical power consumption P of the equipment corresponding to the preset working condition curve _tn The difference E of (t-1) n (t-1) Is it greater than the preset maximum power difference gradient value E? max1 , if it is greater, go to 12), otherwise go to 13); where the theoretical power consumption of the device is the theoretical power consumption of the two motors, the actual power consumption of the device is the actual power consumption of the two motors, and the preset operating condition curve is the operating condition curve corresponding to the preset operating condition mode; E max1It is preset based on the performance characteristics of the hardware (motor and vehicle) and experience, and generally does not exceed ±3‰ of the maximum power of the vehicle.

[0093] 12) Continue online single-point adjustment at the next moment.

[0094] 13) No need to perform online single-point adjustment. From the next moment, the difference of each moment in the interval is accumulated. If the accumulated difference of an interval is greater than the preset maximum value of the accumulated power difference gradient ∑E max1 , then the next interval is adjusted online; where ∑E max1 It is preset based on the performance characteristics of the hardware (motor and vehicle) and experience, and generally does not exceed ±50% of the maximum vehicle power.

[0095] like Figure 5 As shown, the process of changing from offline single-point adjustment to offline interval adjustment can be:

[0096] 21) Determine if P _rn (t-1) The theoretical power consumption P of the equipment corresponding to the actual working condition curve _rtn The difference E of (t-1) rn (t-1) Is it greater than the preset maximum power difference gradient value E? max2 , if greater, go to 22), otherwise go to 23); where E max2 It is preset based on the performance characteristics of the hardware (motor and vehicle) and experience, and generally does not exceed ±5‰ of the maximum vehicle power.

[0097] 22) Continue offline single-point adjustment at the next moment.

[0098] 23) No need to perform offline single-point adjustment. The difference of each moment in the interval is accumulated from the next moment. If the accumulated difference of an interval is greater than the preset maximum value of the accumulated power difference gradient ∑E max2 , then the next interval is adjusted offline; where ∑E max2 It is preset based on the performance characteristics of the hardware (motor and vehicle) and experience, and generally does not exceed ±55% of the maximum vehicle power.

[0099] It should be noted that the single-point adjustment can mainly calculate the corresponding calibration coefficient according to the actual power consumption of the first motor 1 and the second motor 2 after the output torque control at the previous moment, and adjust the torque through the calibration coefficient. At the same time, in order to ensure the accuracy of the adjustment, the initial scheme obtained by the initial calibration coefficient can be verified, and the specific implementation is carried out only after the verification is passed. The specific process can be seen in Figure 6 :

[0100] A1) Calculate the actual power consumption P of the first motor 1 after the output torque control at the previous moment _1n(t-1) corresponds to the theoretical power consumption P of the first motor 1 _1tn The difference E of (t-1) 1n (t-1), calculate the actual power consumption P of the second motor 2 after the output torque control at the previous moment _2n (t-1) corresponds to the theoretical power consumption P of the second motor 2 _2tn The difference E of (t-1) 2n (t-1); wherein, if the single-point adjustment is online single-point adjustment, the theoretical power consumption of the motor is the theoretical power consumption of the motor corresponding to the preset operating condition curve; if the single-point adjustment is offline single-point adjustment, the theoretical power consumption of the motor is the theoretical power consumption of the motor corresponding to the actual operating condition curve.

[0101] A2) According to E 1n (t-1) and E 2n (t-1), calculate the calibration coefficient.

[0102] It should be noted that, assuming that C1 is the calibration coefficient function, the formula for calculating the calibration coefficient can be:

[0103] λ n = C1(E 1n (t-1), E 2n (t-1));

[0104] In the formula, λ n is the calibration factor.

[0105] A3) calculating a single-point alternative solution according to the calibration coefficient; wherein the single-point alternative solution includes the output torque of the first motor 1 and the second motor 2 at a later moment.

[0106] It should be noted that considering the performance range of the motor and the stability of the vehicle, over-limit adjustment will cause output instability, so λ can be pre-defined n The allowed range of [λ min ,λ max ],λ min and λ max They are the lower and upper limits of the coefficient range corresponding to the calibration coefficient.

[0107] If the calibration coefficient is within the set coefficient range [λ min ,λ max ], then the output torque of the first motor 1 at the next moment is T 1_n ×(1+λ n ), at the next moment, the output torque of the second motor 2 is T 2_n ×(1-λ n ), where T 1_n and T 2_n They are the output torque of the first motor 1 and the output torque of the second motor 2 at the previous moment respectively.

[0108] If the calibration coefficient is not within the set coefficient range [λ min ,λ max ], then λ max As λ n , that is, the output torque of the first motor 1 at the next moment is T 1_n ×(1+λ max ), at the next moment, the output torque of the second motor 2 is T 2_n ×(1-λ max ).

[0109] A4) verify the single-point alternative solution. If the verification fails, use the correction coefficient to adjust the calibration coefficient and go to A3); if the verification passes, use the single-point alternative solution as the single-point formal solution and use the single-point formal solution to adjust the output torque of the first motor 1 and the second motor 2 at a later moment.

[0110] It should be noted that the verification is mainly based on power consumption after implementing the single-point alternative solution. The specific process can be seen in Figure 7 :

[0111] B1) Calculate the total power consumption P of all motors after the single-point alternative solution is implemented _brn And the actual power consumption of the device P _rn .

[0112] B2) If P _brn Not less than P _rn , go to B3); if P _brn Less than P _rn , go to B4).

[0113] B3) According to P _brn With P _rn The difference is calculated to calculate the first correction coefficient, and the product of the first correction coefficient and the old calibration coefficient is used as the new calibration coefficient, and then go to A3).

[0114] It should be noted that the calculation formula of the first correction coefficient γ1 can be as follows:

[0115] γ1=h1(P _brn -P _rn );

[0116] Where h1 is λ n The first correction function of .

[0117] B4) If the current change rate of the first characteristic matrix is ​​not less than the first convergence extreme, the change trend of the first characteristic matrix is ​​used to calculate the second correction coefficient, and the product of the second correction coefficient and the old calibration coefficient is used as the new calibration coefficient, and then go to A3); wherein the first characteristic matrix is ​​initially an empty matrix, and each time a new calibration coefficient is generated, the first characteristic matrix is ​​added;

[0118] If the rate of change of the first characteristic matrix is ​​less than the first convergence limit, the verification is passed, and the single-point alternative solution is used as the single-point formal solution, and the single-point formal solution is used to adjust the output torque of the first motor 1 and the second motor 2 at a later moment.

[0119] It should be noted that the first characteristic matrix is ​​defined as M T (λ n ), then the rate of change of the first characteristic matrix is ​​not less than the first convergence extreme It can be expressed as , the calculation formula of the second correction coefficient γ2 can be expressed as:

[0120] ;

[0121] Where h2 is λ n The second correction function of For changing trends.

[0122] In summary, the output torques of the first motor 1 and the second motor 2 at the next moment after adjustment can be respectively f 1_1 (γ1)×f 1_2 (γ2) ×λ n ×T 1_n , [1-f 1_1 (γ1)×f 1_2 (γ2) ×λ n ]×T 2_n ; Among them, f 1_1 is the correction function of γ1, f 1_2 is the correction function of γ2.

[0123] like Fig.10 As shown, in order to facilitate the implementation of the above single-point adjustment, two matrices are set up. The C1 matrix stores the single-point formal plan in real time, and the C b1 The matrix stores single-point alternatives in real time, and only when the verification is passed will the single-point alternative be copied to the C1 matrix.

[0124] It should be noted that by establishing an alternative area, the stability of the output and the iteration efficiency are guaranteed. Before confirming that the modified parameters are valid, the original data area will not be modified, thus avoiding invalid modifications, preventing problems in subsequent calculations, and improving iteration efficiency.

[0125] It should be noted that the interval adjustment is based on an interval. According to the actual power consumption of the first motor 1 and the second motor 2 after the output torque control at each moment in the previous interval, the corresponding calibration coefficient matrix is ​​calculated, and the interval torque adjustment is performed through the calibration coefficient matrix. At the same time, in order to ensure the accuracy of the adjustment, the initial scheme obtained by the initial calibration coefficient matrix can be verified. Only after the verification is passed, it will be specifically implemented. The specific process can be seen in Figure 8 :

[0126] C1) Calculate the actual power consumption P of the first motor 1 after output torque control at each moment in the previous interval _1n The corresponding first motor 1 theoretical power consumption P _1tn The difference E 1n , calculate the actual power consumption P of the second motor 2 after the output torque control at each moment in the previous interval _2n The corresponding second motor 2 theoretical power consumption P _2tn The difference E 2n ; Among them, if the interval adjustment is an online interval adjustment, the theoretical power consumption of the motor is the theoretical power consumption of the motor corresponding to the preset operating condition curve; if the interval adjustment is an offline interval adjustment, the theoretical power consumption of the motor is the theoretical power consumption of the motor corresponding to the actual operating condition curve.

[0127] C2) According to E at each moment 1n and E 1n , calculate the calibration coefficient matrix for the interval.

[0128] It should be noted that each element in the calibration coefficient matrix corresponds to the calibration coefficient at each moment in the interval. The calibration coefficient at each moment here is similar to the above-mentioned single-point adjustment and will not be repeated here.

[0129] C3) calculating the interval alternative scheme according to the calibration coefficient matrix; wherein the interval alternative scheme includes the output torque of the first motor 1 and the second motor 2 at each moment in the subsequent interval.

[0130] It should be noted that, taking the i-th calibration coefficient in the calibration coefficient matrix as an example:

[0131] a. If the i-th calibration coefficient in the calibration coefficient matrix is ​​within the set coefficient range [δ imin ,δ imax ], then the output torque of the first motor 1 at the i-th moment in the next interval is T 1_n_i ×(1+δ i ), the output torque of the second motor 2 at the i-th moment in the next interval is T 2_n_i ×(1-δ i ), where T 1_n_i and T 2_n_i are the output torque of the first motor 1 and the output torque of the second motor 2 at the i-th moment in the previous interval, δi is the i-th calibration coefficient in the calibration coefficient matrix, δ imin and δ imax are the lower limit and upper limit of the coefficient range set for the i-th calibration coefficient respectively.

[0132] It should be noted that if there are n moments in the interval, then the output torque range of the first motor 1 in the next interval is [T 1_n_1 ×(1+δ1), T 1_n_n ×(1+δ n )], and the output torque range of the second motor 2 in the latter interval is [T 1_n_1 ×(1-δ1),T 1_n_n ×(1-δ n )].

[0133] b. If the i-th calibration coefficient in the calibration coefficient matrix is ​​not within the set coefficient range [δ imin ,δ imax ], then δ imax As δ i , that is, the output torque of the first motor 1 at the i-th moment in the next interval is T 1_n_i ×(1+δ imax ), the output torque of the second motor 2 at the i-th moment in the next interval is T 2_n_i ×(1-δ imax ).

[0134] It should be noted that if there are n moments in the interval, then the output torque range of the first motor 1 in the next interval is [T 1_n_1 ×(1+δ 1max ), T 1_n_n ×(1+δ nmax )], and the output torque range of the second motor 2 in the latter interval is [T 1_n_1 ×(1-δ 1max ), T 1_n_n ×(1-δ nmax )].

[0135] C4) verify the interval alternative plan. If the verification fails, use the correction coefficient to adjust the calibration coefficient matrix and go to C3); if the verification passes, use the interval alternative plan as the interval formal plan, and use the interval formal plan to adjust the output torque of the first motor 1 and the second motor 2 at each moment in the next interval.

[0136] It should be noted that, similar to the single-point alternative verification, the interval alternative verification is mainly based on power consumption after the interval alternative is implemented. The specific process can be seen in Fig. 9 :

[0137] D1) Calculate the total power consumption of all motors after the implementation of the alternative plan in the calculation interval ∑P_brn And the accumulated actual power consumption of the equipment ∑P _rn .

[0138] D2) If ∑P _brn Not less than ∑P _rn , go to D3); if ∑P _brn Less than ∑P _rn , go to D4).

[0139] D3) According to the total power consumption P of the motor at each moment after the implementation of the interval alternative plan _brn The actual power consumption of the device P _rn The difference is calculated to calculate the third correction coefficient, and the third correction coefficient is multiplied by the old calibration coefficient matrix to obtain the new calibration coefficient matrix, and then transferred to C3).

[0140] It should be noted that the third correction coefficient α n1 The calculation formula can be as follows:

[0141] ;

[0142] Where P i_brn and P i_rn is the total power consumption of the motor and the actual power consumption of the equipment at the i-th moment after the implementation of the interval alternative plan, h 1_1 is the third correction function of the calibration coefficient matrix.

[0143] D4) If the current rate of change of the second characteristic matrix is ​​not less than the second convergence limit, the change trend of the second characteristic matrix calculates the fourth correction coefficient, multiplies the fourth correction coefficient with the old calibration coefficient matrix as the new calibration coefficient matrix, and transfers to C3); wherein, the second characteristic matrix is ​​initially an empty matrix, and each time a new calibration coefficient is generated, the second characteristic matrix is ​​added.

[0144] If the rate of change of the second characteristic matrix is ​​less than the second convergence limit, the verification is passed, and the interval alternative plan is used as the interval formal plan. The interval formal plan is used to adjust the output torque of the first motor 1 and the second motor 2 at each moment in the next interval.

[0145] It should be noted that, similar to the single-point alternative verification, the second characteristic matrix is ​​defined as M T (δ), then the rate of change of the second characteristic matrix is ​​not less than the second convergence extreme It can be expressed as , δ max The calibration coefficient δ corresponds to the upper limit of the set coefficient range, and the fourth correction coefficient α n2 The calculation formula can be expressed as:

[0146] ;

[0147] In the formula, h1_2 is the second correction function of the calibration coefficient matrix, For changing trends.

[0148] In summary, the output torques of the first motor 1 and the second motor 2 at the i-th moment in the next interval after adjustment can be g 1_1 (α n1 )×g 1_2 (α n2 ) ×δ i ×T 1_n_i , [1-g 1_1 (α n1 )×g 1_2 (α n2 ) ×δ i ]×T 2_n_i .

[0149] like Fig.11 As shown, in order to facilitate the implementation of the above interval adjustment, two matrices are also set up. The C1 matrix stores the single-point formal plan in real time, and the C b1 The matrix stores single-point alternatives in real time. Only when the verification is passed will the single-point alternative for an interval be copied to the C1 matrix.

[0150] The above-mentioned torque control first performs initial control according to the output torque demand, and then uses an iterative method to perform single-point adjustment and interval adjustment in sequence according to the actual power consumption. This can improve the adaptability of the equipment to unknown working conditions, ensure that it always operates at the high efficiency point, and improve the energy efficiency ratio and power performance of the drive system.

[0151] Based on the same technical solution, the present invention also discloses an electric loader, namely the above-mentioned device, including the above-mentioned driving device and / or motor output torque control method.

[0152] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for controlling motor output torque, characterized in that: The method is applicable to a dual-motor drive structure composed of a first motor and a second motor, and the method comprises: The output torque requirement of the device is calculated according to the opening signal of the accelerator pedal, the opening signal of the brake pedal, the gear position signal of the working handle and the preset working mode; wherein the device is a device driven by a dual-motor drive structure, and the working condition is the device working condition; Determine an optimal initial allocation ratio according to the output torque demand, the efficiency MAP of the first motor, the efficiency MAP of the second motor, and the constraints of the preset operating mode; wherein the allocation ratio is the ratio of the output torque demand to the first motor and the second motor; Initially controlling the output torque of the first motor and the output torque of the second motor according to the optimal initial distribution ratio; After the initial control, single-point adjustment and interval adjustment are performed in sequence; wherein, the single-point adjustment is to adjust the output torque of the first motor and the second motor at a later moment according to the actual power consumption of the first motor and the second motor after the output torque control at a previous moment; the interval adjustment is to adjust the output torque of the first motor and the second motor at each moment in a later interval according to the actual power consumption of the first motor and the second motor after the output torque control at each moment in the previous interval; the interval duration is from the end moment of the single-point adjustment to the moment when the accumulated difference is greater than the threshold, and the difference is the difference between the actual power consumption of the device and the corresponding theoretical power consumption of the device at the same moment after the end of the single-point adjustment.

2. The motor output torque control method according to claim 1, characterized in that: Single-point adjustment includes online single-point adjustment and offline single-point adjustment, and interval adjustment includes online interval adjustment and offline interval adjustment; Single point adjustment and interval adjustment are performed in sequence, including: If the preset working condition mode is consistent with the actual working condition mode before the initial control, online single-point adjustment and online interval adjustment are performed in sequence; If the preset operating mode is inconsistent with the actual operating mode before the initial control, perform offline single-point adjustment and offline interval adjustment in sequence.

3. The motor output torque control method according to claim 2, characterized in that: The process of changing from online single-point adjustment to online interval adjustment is as follows: If the actual power consumption of the device after output torque control at the previous moment is P _rn (t-1) The theoretical power consumption P of the equipment corresponding to the preset working condition curve _tn The difference E of (t-1) n (t-1) is greater than the preset maximum power difference gradient value E max1 , then the online single-point adjustment will continue at the next moment; wherein the preset working condition curve is the working condition curve corresponding to the preset working condition mode; If E n (t-1) not greater than E max1 , then the difference between each moment in the interval is accumulated from the next moment. If the accumulated difference of an interval is greater than the preset maximum value of the accumulated power difference gradient ∑E max1 , then the next interval is adjusted online; The process of changing from offline single-point adjustment to offline interval adjustment is as follows: If P _rn (t-1) The theoretical power consumption P of the equipment corresponding to the actual working condition curve _rtn The difference E of (t-1) rn (t-1) is greater than the preset maximum power difference gradient value E max2 , then continue to perform offline single-point adjustment at the next moment; If E rn (t-1) not greater than E max2 , then the difference between each moment in the interval is accumulated from the next moment. If the accumulated difference of an interval is greater than the preset maximum value of the accumulated power difference gradient ∑E max2 , then the next interval is adjusted offline.

4. The motor output torque control method according to claim 1, characterized in that: Single-point adjustments, including: A1) Calculate the actual power consumption P of the first motor after output torque control at the previous moment _1n (t-1) corresponds to the theoretical power consumption P of the first motor _1tn The difference E of (t-1) 1n (t-1), calculate the actual power consumption P of the second motor after the output torque control at the previous moment _2n (t-1) and the corresponding second motor theoretical power consumption P _2tn The difference E of (t-1) 2n (t-1); where, if the single-point adjustment is online single-point adjustment, the theoretical power consumption of the motor is the theoretical power consumption of the motor corresponding to the preset operating curve; if the single-point adjustment is offline single-point adjustment, the theoretical power consumption of the motor is the theoretical power consumption of the motor corresponding to the actual operating curve; A2) According to E 1n (t-1) and E 2n (t-1), calculate the calibration coefficient; A3) calculating a single-point alternative solution according to the calibration coefficient; wherein the single-point alternative solution includes the output torque of the first motor and the second motor at a later moment; A4) Verify the single-point alternative solution. If the verification fails, use the correction coefficient to adjust the calibration coefficient and go to A3); if the verification passes, use the single-point alternative solution as the single-point formal solution and use the single-point formal solution to adjust the output torque of the first motor and the second motor at a later moment.

5. The motor output torque control method according to claim 4, characterized in that: Based on the calibration factors, single point alternatives are calculated, including: If the calibration coefficient is within the set coefficient range [λ min ,λ max ], then the output torque of the first motor at the next moment is T 1_n ×(1+λ n ), the second motor output torque at the next moment is T 2_n ×(1-λ n ), where T 1_n and T 2_n are the output torque of the first motor and the second motor at the previous moment, respectively, n is the calibration coefficient, λ min and λ max They are the lower limit and upper limit of the setting coefficient range corresponding to the calibration coefficient respectively; If the calibration coefficient is not within the set coefficient range [λ min ,λ max ], then the output torque of the first motor at the next moment is T 1_n ×(1+λ max ), the second motor output torque at the next moment is T 2_n ×(1-λ max ).

6. The motor output torque control method according to claim 4, characterized in that: Verify the single-point alternative solution. If the verification fails, use the correction factor to adjust the calibration factor and go to A3); If the verification is successful, the single-point alternative solution is used as the single-point formal solution, and the output torque of the first motor and the second motor at a later moment is adjusted using the single-point formal solution, including: B1) Calculate the total power consumption P of all motors after the single-point alternative solution is implemented _brn And the actual power consumption of the device P _rn ; B2) If P _brn Not less than P _rn , go to B3); if P _brn Less than P _rn , go to B4); B3) According to P _brn With P _rn The difference between the first correction coefficient and the old calibration coefficient is calculated, and the product of the first correction coefficient and the old calibration coefficient is used as the new calibration coefficient, and transferred to A3); B4) If the current change rate of the first characteristic matrix is ​​not less than the first convergence extreme, the change trend of the first characteristic matrix is ​​used to calculate the second correction coefficient, and the product of the second correction coefficient and the old calibration coefficient is used as the new calibration coefficient, and then go to A3); wherein the first characteristic matrix is ​​initially an empty matrix, and each time a new calibration coefficient is generated, the first characteristic matrix is ​​added; If the rate of change of the first characteristic matrix is ​​less than the first convergence limit, the verification is passed, and the single-point alternative solution is used as the single-point formal solution, and the single-point formal solution is used to adjust the output torque of the first motor and the second motor at a later moment.

7. The motor output torque control method according to claim 1, characterized in that: Range adjustments include: C1) Calculate the actual power consumption P of the first motor after output torque control at each moment in the previous interval _1n The corresponding first motor theoretical power consumption P _1tn The difference E 1n , calculate the actual power consumption P of the second motor after output torque control at each moment in the previous interval _2n The corresponding second motor theoretical power consumption P _2tn The difference E 2n ; Among them, if the interval adjustment is an online interval adjustment, the theoretical power consumption of the motor is the theoretical power consumption of the motor corresponding to the preset working condition curve; if the interval adjustment is an offline interval adjustment, the theoretical power consumption of the motor is the theoretical power consumption of the motor corresponding to the actual working condition curve; C2) According to E at each moment 1n and E 1n , calculate the calibration coefficient matrix of the interval; C3) calculating an interval alternative scheme according to the calibration coefficient matrix; wherein the interval alternative scheme includes the output torque of the first motor and the second motor at each moment in the next interval; C4) Verify the interval alternative plan. If the verification fails, use the correction coefficient to adjust the calibration coefficient matrix and go to C3); if the verification passes, use the interval alternative plan as the interval formal plan, and use the interval formal plan to adjust the output torque of the first motor and the second motor at each moment in the next interval.

8. The motor output torque control method according to claim 7, characterized in that: Based on the calibration coefficient matrix, interval alternatives are calculated, including: If the i-th calibration coefficient in the calibration coefficient matrix is ​​within the set coefficient range [δ imin ,δ imax ], then the output torque of the first motor at the i-th moment in the next interval is T 1_n_i ×(1+δ i ), the second motor output torque at the i-th moment in the next interval is T 2_n_i ×(1-δ i ), where T 1_n_i and T 2_n_i are the output torque of the first motor and the output torque of the second motor at the i-th moment in the previous interval, δ i is the i-th calibration coefficient in the calibration coefficient matrix, δ imin and δ imax are the lower limit and upper limit of the set coefficient range corresponding to the i-th calibration coefficient respectively; If the i-th calibration coefficient in the calibration coefficient matrix is ​​not within the set coefficient range [δ imin ,δ imax ], then the output torque of the first motor at the i-th moment in the next interval is T 1_n_i ×(1+δ imax ), the second motor output torque at the i-th moment in the next interval is T 2_n_i ×(1-δ imax ).

9. The motor output torque control method according to claim 7, characterized in that: Verify the interval alternative plan. If the verification fails, use the correction coefficient to adjust the calibration coefficient matrix and go to C3); if the verification passes, use the interval alternative plan as the interval formal plan, and use the interval formal plan to adjust the output torque of the first motor and the second motor at each moment in the next interval, including: D1) Calculate the total power consumption of all motors after the implementation of the alternative plan in the calculation interval ∑P _brn And the accumulated actual power consumption of the equipment ∑P _rn ; D2) If ∑P _brn Not less than ∑P _rn , go to D3); if ∑P _brn Less than ∑P _rn , go to D4); D3) According to the total power consumption P of the motor at each moment after the implementation of the interval alternative plan _brn The actual power consumption of the device P _rn The difference between the third correction coefficient and the old calibration coefficient matrix is ​​calculated, and the third correction coefficient is multiplied by the old calibration coefficient matrix to obtain a new calibration coefficient matrix, which is transferred to C3); D4) If the current rate of change of the second characteristic matrix is ​​not less than the second convergence limit, the change trend of the second characteristic matrix is ​​used to calculate the fourth correction coefficient, and the fourth correction coefficient is multiplied by the old calibration coefficient matrix as a new calibration coefficient matrix, and then transferred to C3); wherein, the second characteristic matrix is ​​initially an empty matrix, and each time a new calibration coefficient is generated, the second characteristic matrix is ​​added; If the rate of change of the second characteristic matrix is ​​less than the second convergence limit, the verification is passed, and the interval alternative plan is used as the interval formal plan. The interval formal plan is used to adjust the output torque of the first motor and the second motor at each moment in the next interval.

10. An electric loader, characterized in that: The invention comprises the motor output torque control method as described in any one of claims 1 to 9.

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