Motor torque distribution method and device and vehicle

Abstract

The invention provides a motor torque distribution method and device and a vehicle, and the method comprises the steps: determining a main motor system and a slave motor system corresponding to a dual-redundancy motor system under the condition that the dual-redundancy motor system is detected to be in a power-on state; determining a first system state corresponding to a master motor system and a second system state corresponding to the slave motor system; and determining a first torque corresponding to the master motor system and a second torque corresponding to the slave motor system based on the first system state, the second system state and a preset system torque distribution coefficient table. According to the embodiment of the invention, the power-on state of the dual-redundancy motor system is detected in real time, the master and slave motor systems and the corresponding system states are dynamically determined, and the torques of the master and slave motors are intelligently distributed based on the preset system torque distribution coefficient table, so that the overall efficiency and performance of the motor system in the linear steering system are optimized under different working conditions.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a motor torque distribution method, device and vehicle. Background Art

[0002] With the development of intelligent driving technology, various demands derived from it have gradually become clear. Among them, the wire-controlled steering system in the wire-controlled chassis system is particularly important. The wire-controlled steering system does not rely on the direct mechanical connection between the steering wheel and the wheel, but only relies on the transmission of electrical signals to achieve the coordinated cooperation between the steering wheel and the wheel, thereby realizing the simulation of the steering wheel feel and the steering of the wheel, which can provide convenient conditions for intelligent driving. But in the same way, when the wire-controlled steering system without mechanical connection fails, the driver may be unable to interfere with the steering of the wheel. Therefore, the wire-controlled steering system with low failure rate and redundant components has gradually become the mainstream.

[0003] For the wire-controlled steering system using dual redundant motors, it is equipped with two control systems that can work independently, and the two systems can work simultaneously.

[0004] However, the above method does not have accurate identification of the system status and a complete processing mechanism for the fault status, especially the master-slave role switching and accurate torque distribution after the system failure, which is not conducive to achieving the safety goals of the system. Summary of the invention

[0005] In view of this, the present invention aims to propose a motor torque distribution method, device and vehicle to solve the problem of master-slave role switching and accurate torque distribution after a vehicle's wire-controlled steering system fails, which is not conducive to achieving the system's safety goals.

[0006] According to a first aspect of the present invention, a motor torque distribution method is provided, the method comprising:

[0007] When it is detected that the dual redundant motor system is in a powered-on state, determining a master motor system and a slave motor system corresponding to the dual redundant motor system;

[0008] Determine a first system state corresponding to the master motor system and a second system state corresponding to the slave motor system;

[0009] A first torque corresponding to the master motor system and a second torque corresponding to the slave motor system are determined based on the first system state, the second system state, and a preset system torque distribution coefficient table.

[0010] Optionally, the dual redundant motor system includes a first chip and a second chip; and determining the master motor system and the slave motor system corresponding to the dual redundant motor system includes:

[0011] If the first target pin of the first chip is at a first level and the second target pin of the second chip is at a second level, the first motor system corresponding to the first chip is a master motor system and the second motor system corresponding to the second chip is a slave motor system.

[0012] Optionally, the dual redundant motor system includes a first chip and a second chip; and determining the master motor system and the slave motor system corresponding to the dual redundant motor system includes:

[0013] If the first target pin of the first chip is at the second level and the second target pin of the second chip is at the first level, the first motor system corresponding to the first chip is a slave motor system and the second motor system corresponding to the second chip is a master motor system.

[0014] Optionally, after the step of determining the first system state corresponding to the master motor system and the second system state corresponding to the slave motor system, the method includes:

[0015] If the first system state corresponding to the main motor system is a fault state, and the second system state corresponding to the slave motor system is a safe state or a power-assisted degradation state, the main motor system is controlled to switch to the slave motor system, and the slave motor system is switched to the main motor system.

[0016] Optionally, determining the first torque corresponding to the master motor system and the second torque corresponding to the slave motor system based on the first system state, the second system state and a preset system torque distribution coefficient table includes:

[0017] Determine a first torque coefficient corresponding to the master motor system and a second torque coefficient corresponding to the slave motor system based on the first system state, the second system state, and a preset system torque distribution coefficient table;

[0018] A first torque corresponding to the master motor system and a second torque corresponding to the slave motor system are determined based on a pre-acquired torque command, the first torque coefficient, and the second torque coefficient.

[0019] Optionally, determining the first torque coefficient corresponding to the master motor system and the second torque coefficient corresponding to the slave motor system based on the first system state, the second system state and a preset system torque distribution coefficient table includes:

[0020] When it is detected that the first system state corresponding to the master motor system and the second system state corresponding to the slave motor system are in a safe state, determining a first torque coefficient corresponding to the master motor system and a second torque coefficient corresponding to the slave motor system based on a first preset system torque distribution coefficient table;

[0021] Determining a first torque coefficient corresponding to the main motor system and a second torque coefficient corresponding to the slave motor system based on a second preset system torque distribution coefficient table when it is detected that the first system state corresponding to the main motor system is a power-assisted degraded state and the second system state corresponding to the slave motor system is a safe state, and the first system state corresponding to the main motor system is a safe state and the second system state corresponding to the slave motor system is a power-assisted degraded state;

[0022] When it is detected that the first system state corresponding to the main motor system and the second system state corresponding to the slave motor system are in a power-assisted degraded state, the first torque coefficient corresponding to the main motor system and the second torque coefficient corresponding to the slave motor system are determined based on a third preset system torque distribution coefficient table.

[0023] Optionally, the first preset system torque distribution coefficient table or the second preset system torque distribution coefficient table or the third preset system torque distribution coefficient table is generated based on the target torque coefficient calculated under different torque instructions and different motor speeds based on the first system state corresponding to the main motor system and the second system state corresponding to the slave motor system, and the target torque coefficient includes the first torque coefficient corresponding to the main motor system and the second torque coefficient corresponding to the slave motor system.

[0024] Optionally, the calculation rule corresponding to the target torque coefficient in the first preset system torque distribution coefficient table includes that the torque command is less than or equal to twice the first target torque, the first torque is less than the first target torque, and the second torque is less than the first target torque;

[0025] The calculation rule corresponding to the target torque coefficient in the second preset system torque distribution coefficient table includes that the torque command is less than or equal to the second target torque, the second target torque is generated based on the first target torque and a preset power-assistance degradation ratio coefficient, the first torque is less than the first target torque, and the second torque is less than the product of the preset power-assistance degradation ratio coefficient and the first target torque;

[0026] The calculation rules corresponding to the target torque coefficient in the third preset system torque distribution coefficient table include the torque command being less than or equal to the third target torque, the third target torque being generated based on the twice first target torque and a preset power-assistance demotion proportional coefficient, the first torque being less than the product of the first target torque and the preset power-assistance demotion proportional coefficient, and the second torque being less than the product of the preset power-assistance demotion proportional coefficient and the first target torque.

[0027] According to a second aspect of the present invention, a motor torque distribution device is provided, the device comprising:

[0028] A first determination module is used to determine a master motor system and a slave motor system corresponding to the dual redundant motor system when it is detected that the dual redundant motor system is in a powered-on state;

[0029] A second determination module, used to determine a first system state corresponding to the master motor system and a second system state corresponding to the slave motor system;

[0030] The third determination module is used to determine the first torque corresponding to the main motor system and the second torque corresponding to the slave motor system based on the first system state, the second system state and a preset system torque distribution coefficient table.

[0031] Optionally, the dual redundant motor system includes a first chip and a second chip; the first determination module includes:

[0032] The first determining submodule is used to determine that if the first target pin of the first chip is at a first level and the second target pin of the second chip is at a second level, the first motor system corresponding to the first chip is a master motor system and the second motor system corresponding to the second chip is a slave motor system.

[0033] Optionally, the dual redundant motor system includes a first chip and a second chip; the first determination module includes:

[0034] The second determining submodule is used for, if the first target pin of the first chip is at the second level and the second target pin of the second chip is at the first level, then the first motor system corresponding to the first chip is the slave motor system and the second motor system corresponding to the second chip is the master motor system.

[0035] Optionally, the device further comprises:

[0036] A control module is used to control the main motor system to switch to the slave motor system, and the slave motor system to switch to the main motor system if the first system state corresponding to the main motor system is a fault state and the second system state corresponding to the slave motor system is a safe state or a power-assisted degradation state.

[0037] Optionally, the third determining module includes:

[0038] a third determination submodule, configured to determine a first torque coefficient corresponding to the master motor system and a second torque coefficient corresponding to the slave motor system based on the first system state, the second system state, and a preset system torque distribution coefficient table;

[0039] The fourth determination submodule is used to determine the first torque corresponding to the master motor system and the second torque corresponding to the slave motor system based on the pre-acquired torque command, the first torque coefficient and the second torque coefficient.

[0040] Optionally, the third determining submodule includes:

[0041] a first unit, configured to determine, based on a first preset system torque distribution coefficient table, a first torque coefficient corresponding to the master motor system and a second torque coefficient corresponding to the slave motor system when detecting that a first system state corresponding to the master motor system and a second system state corresponding to the slave motor system are in a safe state;

[0042] a second unit, for determining a first torque coefficient corresponding to the main motor system and a second torque coefficient corresponding to the slave motor system based on a second preset system torque distribution coefficient table when it is detected that the first system state corresponding to the main motor system is a power-assisted degraded state and the second system state corresponding to the slave motor system is a safe state, and the first system state corresponding to the main motor system is a safe state and the second system state corresponding to the slave motor system is a power-assisted degraded state;

[0043] The third unit is used to determine the first torque coefficient corresponding to the main motor system and the second torque coefficient corresponding to the slave motor system based on a third preset system torque distribution coefficient table when it is detected that the first system state corresponding to the main motor system and the second system state corresponding to the slave motor system are in a power-assisted degraded state.

[0044] Optionally, the third determination submodule is specifically used to generate the first preset system torque distribution coefficient table or the second preset system torque distribution coefficient table or the third preset system torque distribution coefficient table based on the first system state corresponding to the main motor system and the second system state corresponding to the slave motor system under different torque instructions and different motor speeds. The target torque coefficient includes the first torque coefficient corresponding to the main motor system and the second torque coefficient corresponding to the slave motor system.

[0045] Optionally, the third determination submodule is specifically used for the calculation rule corresponding to the target torque coefficient in the first preset system torque distribution coefficient table, including that the torque command is less than or equal to twice the first target torque, the first torque is less than the first target torque, and the second torque is less than the first target torque;

[0046] The calculation rule corresponding to the target torque coefficient in the second preset system torque distribution coefficient table includes that the torque command is less than or equal to the second target torque, the second target torque is generated based on the first target torque and a preset power-assistance degradation ratio coefficient, the first torque is less than the first target torque, and the second torque is less than the product of the preset power-assistance degradation ratio coefficient and the first target torque;

[0047] The calculation rules corresponding to the target torque coefficient in the third preset system torque distribution coefficient table include the torque command being less than or equal to the third target torque, the third target torque being generated based on the twice first target torque and a preset power-assistance demotion proportional coefficient, the first torque being less than the product of the first target torque and the preset power-assistance demotion proportional coefficient, and the second torque being less than the product of the preset power-assistance demotion proportional coefficient and the first target torque.

[0048] According to a third aspect of the present invention, there is provided an electronic device, comprising: a transceiver, a memory, a processor, and a program stored in the memory and executable on the processor;

[0049] The processor is used to read the program in the memory to implement the motor torque distribution method as described in the first aspect.

[0050] According to a fourth aspect of the present invention, there is provided a readable storage medium for storing a program, wherein when the program is executed by a processor, the motor torque distribution method as described in the first aspect is implemented.

[0051] According to a fifth aspect of the present invention, there is provided a vehicle, comprising the motor torque distribution device according to the second aspect of the present invention.

[0052] An embodiment of the present invention provides a motor torque distribution method, in the case of detecting that the dual redundant motor system is in a power-on state, determining the master motor system and the slave motor system corresponding to the dual redundant motor system; determining the first system state corresponding to the master motor system and the second system state corresponding to the slave motor system; determining the first torque corresponding to the master motor system and the second torque corresponding to the slave motor system based on the first system state, the second system state and a preset system torque distribution coefficient table. The embodiment of the present invention detects the power-on state of the dual redundant motor system in real time, dynamically determines the master and slave motor systems and their corresponding system states, and intelligently distributes the torque of the master and slave motors based on the preset system torque distribution coefficient table, thereby optimizing the overall efficiency and performance of the motor system in the linear steering system under different working conditions, ensuring the reliability and safety of the motor system in the linear steering system, that is, the embodiment of the present application reasonably judges the system states of the two systems in normal working and fault states by setting the dual redundant motor system, and determines the efficient distribution of the master and slave roles and torque according to the system state and the distribution coefficient calibrated in advance, thereby reducing the failure rate of the system and improving the execution efficiency of the motor.

[0053] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0055] Figure 1 is a flowchart of a motor torque distribution method provided by an embodiment of the present invention;

[0056] Figure 2 This is a device block diagram of a motor torque distribution device provided by an embodiment of the present invention.

[0057] Figure 3 is a device block diagram of a motor torque distribution device provided by an embodiment of the present invention;

[0058] Figure 4 is a schematic diagram of an electronic device provided by an embodiment of the present invention;

[0059] Figure 5 It is a schematic diagram of a motor system role identification and switching process provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0060] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present invention and to enable the scope of the present invention to be fully communicated to those skilled in the art.

[0061] The terms "first", "second", etc. in the specification and claims of the present invention are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0062] In conjunction with the accompanying drawings, a motor torque distribution method, device and vehicle provided by the embodiments of the present invention are described in detail through specific embodiments and their application scenarios.

[0063] Reference Figure 1 , Figure 1 A flow chart of a motor torque distribution method provided by an embodiment of the present invention, the motor torque distribution method comprises the following steps:

[0064] Step 101, when it is detected that the dual redundant motor system is in a powered-on state, determining a master motor system and a slave motor system corresponding to the dual redundant motor system;

[0065] It should be noted that in the embodiment of the present application, when applied to the linear steering system scenario, reference can be made to Figure 5 The motor of the linear steering system is a dual redundant motor system. When the dual redundant motor system is powered on, the dual redundant motor system includes a first chip and a second chip. Each chip corresponds to a motor system. Therefore, the first chip and the second chip perform their own chip self-tests respectively, wherein the self-test may include initialization detection, signal status detection, etc., and obtain the real-time fault status of the system according to the established fault diagnosis strategy.

[0066] Among them, the security goals of the system are different, and the diagnostic strategies are also different, depending on the needs.

[0067] According to the above test results, the system states corresponding to the motor system are divided into:

[0068] Safe status: The current chip system self-check has passed, there is no fault, and the motor can provide full assistance;

[0069] Power assist degradation state: the current chip system self-test has passed, but there is a redundant signal failure, and the system degradation strategy is implemented, and only partial power assist can be provided to the motor. The proportional coefficient of power assist degradation is assumed to be TqErrFac∈(0,1);

[0070] Fault status: The current chip system self-test fails, or there is a serious unrecoverable fault, and the system cannot provide motor assistance normally.

[0071] Further, the dual redundant motor system includes a first chip and a second chip; and the step of determining the master motor system and the slave motor system corresponding to the dual redundant motor system includes:

[0072] If the first target pin of the first chip is at a first level and the second target pin of the second chip is at a second level, the first motor system corresponding to the first chip is a master motor system and the second motor system corresponding to the second chip is a slave motor system.

[0073] Further, the dual redundant motor system includes a first chip and a second chip; and the step of determining the master motor system and the slave motor system corresponding to the dual redundant motor system includes:

[0074] If the first target pin of the first chip is at the second level and the second target pin of the second chip is at the first level, the first motor system corresponding to the first chip is a slave motor system and the second motor system corresponding to the second chip is a master motor system.

[0075] Specifically, refer to Figure 2 The dual redundant motor system includes a first chip and a second chip, wherein the first chip is arranged in the first motor system and the second chip is arranged in the second motor system.

[0076] First, the initial roles of the first chip and the second chip are defined by hardware pins. The system obtains the hardware pin levels to determine whether the current chip is a master chip or a slave chip.

[0077] If the first target pin of the first chip is at a first level and the second target pin of the second chip is at a second level, the first motor system corresponding to the first chip is a master motor system and the second motor system corresponding to the second chip is a slave motor system;

[0078] If the first target pin of the first chip is at the second level and the second target pin of the second chip is at the first level, the first motor system corresponding to the first chip is a slave motor system and the second motor system corresponding to the second chip is a master motor system.

[0079] In addition, it should be noted that in the embodiment of the present application, the system state corresponding to the motor system is interacted in real time between the two chips through inter-chip communication, so that the master chip and the slave chip can obtain each other's system state.

[0080] Step 102, determining a first system state corresponding to the master motor system and a second system state corresponding to the slave motor system;

[0081] It should be noted that in the embodiment of the present application, a first system state corresponding to the main motor system and a second system state corresponding to the slave motor system are determined, and the first system state and the second system state include a safe state, a power-assisted degradation state, and a fault state.

[0082] Step 103 , determining a first torque corresponding to the master motor system and a second torque corresponding to the slave motor system based on the first system state, the second system state, and a preset system torque distribution coefficient table.

[0083] Further, the determining the first torque corresponding to the master motor system and the second torque corresponding to the slave motor system based on the first system state, the second system state and a preset system torque distribution coefficient table includes:

[0084] Determine a first torque coefficient corresponding to the master motor system and a second torque coefficient corresponding to the slave motor system based on the first system state, the second system state, and a preset system torque distribution coefficient table;

[0085] A first torque corresponding to the master motor system and a second torque corresponding to the slave motor system are determined based on a pre-acquired torque command, the first torque coefficient, and the second torque coefficient.

[0086] It should be noted that, in the embodiment of the present application, the core of the torque distribution strategy of the redundant system is to perform reasonable and efficient torque distribution according to the system status and role of the master and slave chips in combination with a pre-calibrated distribution coefficient table.

[0087] Further, the determining of the first torque coefficient corresponding to the master motor system and the second torque coefficient corresponding to the slave motor system based on the first system state, the second system state and a preset system torque distribution coefficient table includes:

[0088] When it is detected that the first system state corresponding to the master motor system and the second system state corresponding to the slave motor system are in a safe state, determining a first torque coefficient corresponding to the master motor system and a second torque coefficient corresponding to the slave motor system based on a first preset system torque distribution coefficient table;

[0089] Determining a first torque coefficient corresponding to the main motor system and a second torque coefficient corresponding to the slave motor system based on a second preset system torque distribution coefficient table when it is detected that the first system state corresponding to the main motor system is a power-assisted degraded state and the second system state corresponding to the slave motor system is a safe state, and the first system state corresponding to the main motor system is a safe state and the second system state corresponding to the slave motor system is a power-assisted degraded state;

[0090] When it is detected that the first system state corresponding to the main motor system and the second system state corresponding to the slave motor system are in a power-assisted degraded state, the first torque coefficient corresponding to the main motor system and the second torque coefficient corresponding to the slave motor system are determined based on a third preset system torque distribution coefficient table.

[0091] Specifically, in the first case, the master chip is in a safe state, and the slave chip is in a safe state. In this state, both the master and slave chips can provide maximum assistance:

[0092] If Tq≥2*Tmax, then Tmain=Tmax, Tslave=Tmax;

[0093] If Tq<2*Tmax, the allocation coefficient table Map1 is searched by linear interpolation method to obtain the allocation coefficient TqFac, then Tmain=Tq*TqFac, Tslave=Tq*(1-TqFac).

[0094] It should be noted that the torque command Tq transmitted to the motor by the upper layer may exceed the output capacity of the motor, that is, Tq≥2*Tmax. At this time, both the master and slave chip systems output the maximum torque; when the torque command Tq is within the range of the corresponding Map calibration, that is, Tq<2*Tmax, the master and slave chip systems output the torque according to the distribution coefficient TqFac.

[0095] The first is that the master chip is in a safe state and the slave chip is in a power-downgrade state. In this state, the master chip can provide maximum power, and the slave chip can provide partial power:

[0096] If Tq≥(1+TqErrFac)*Tmax, then Tmain=Tmax, Tslave=TqErrFac*Tmax;

[0097] If Tq<(1+TqErrFac)*Tmax, the distribution coefficient table Map2 is searched by linear interpolation method to obtain the distribution coefficient TqFac, then Tmain=Tq*TqFac, Tslave=Tq*(1-TqFac).

[0098] The third type is that the master chip is in a power-downgrade state, and the slave chip is in a safe state. In this state, the master chip can provide partial power, and the slave chip can provide full power:

[0099] If Tq≥(1+TqErrFac)*Tmax, then Tmain=TqErrFac*Tmax, Tslave=Tmax;

[0100] If Tq<(1+TqErrFac)*Tmax, the distribution coefficient table Map2 is searched by linear interpolation method to obtain the distribution coefficient TqFac, then Tmain=Tq*(1-TqFac), Tslave=Tq*TqFac.

[0101] The fourth type is that the master chip is in a power-downgraded state, and the slave chip is in a power-downgraded state. In this state, both the master and slave chips can only provide partial power:

[0102] If Tq≥2*TqErrFac*Tmax, then Tmain=TqErrFac*Tmax, Tslave=TqErrFac*Tmax;

[0103] If Tq<2*TqErrFac*Tmax, the distribution coefficient table Map3 is searched by linear interpolation method to obtain the distribution coefficient TqFac, then Tmain=Tq*TqFac, Tslave=Tq*(1-TqFac).

[0104] The fifth type is that the master chip is in a safe state and the slave chip is in a fault state. In this state, only the master chip can provide full assistance, and the slave chip cannot provide assistance:

[0105] If Tq≥Tmax, then Tmain=Tmax, Tslave=0;

[0106] If Tq<Tmax, then Tmain=Tq, Tslave=0.

[0107] The sixth type is that the master chip is in a power-assistance-degraded state and the slave chip is in a faulty state. In this state, only the master chip can provide partial power assistance, and the slave chip cannot provide power assistance:

[0108] If Tq≥TqErrFac*Tmax, then Tmain=TqErrFac*Tmax, Tslave=0;

[0109] If Tq<TqErrFac*Tmax, then Tmain=Tq, Tslave=0.

[0110] The seventh type is that the master chip is in a fault state and the slave chip is in a safe state or an auxiliary degradation state. When the master chip is in a fault state and the slave chip is not in a fault state, the master and slave chip roles are switched;

[0111] After the roles are switched, the master and slave chip states satisfy the states described in the preceding sequence, that is, the torque distribution strategy in the corresponding states of the preceding sequence is executed.

[0112] The eighth type is that the master chip is in a faulty state, and the slave chip is in a faulty state. In this state, both the master and slave chips cannot provide assistance:

[0113] Tmain=Tslave=0.

[0114] Further, the first preset system torque distribution coefficient table or the second preset system torque distribution coefficient table or the third preset system torque distribution coefficient table is generated based on a target torque coefficient calculated under different torque instructions and different motor speeds based on a first system state corresponding to the main motor system and a second system state corresponding to the slave motor system, wherein the target torque coefficient includes a first torque coefficient corresponding to the main motor system and a second torque coefficient corresponding to the slave motor system;

[0115] It should be noted that for dual redundant motors, they have two identical systems that can work independently. Assuming that the maximum assist that a single-chip system can provide is Tmax (this value is determined by the motor design), when the two systems work together, the maximum assist that the motor can provide is 2*Tmax.

[0116] Assuming that the total torque command calculated by the upper layer is Tq (Tq≤2*Tmax), when it is actually distributed to the two systems, it satisfies

[0117] Tq=Tmain+Tslave (Formula 1)

[0118] Right now

[0119] Tmain=Tq*TqFac, Tslave=Tq*(1-TqFac); (Formula 2)

[0120] Where TqFac is the allocation coefficient, TqFac∈[0,1].

[0121] It should be noted that the efficiency of the motor is different when it works at different operating points. When the two chips in the dual redundant motor work together, different torque distribution coefficients will cause the two-chip system to work at different operating points (that is, different efficiencies). Through bench measurements, the overall working efficiency of the motor at each operating point under different torque distribution strategies can be obtained. Furthermore, the torque distribution coefficient with the best motor working efficiency at each operating point can be obtained.

[0122] The calculation rule corresponding to the target torque coefficient in the first preset system torque distribution coefficient table includes that the torque command is less than or equal to twice the first target torque, the first torque is less than the first target torque, and the second torque is less than the first target torque;

[0123] It should be noted that Tmax is the first target torque, Tmain is the first torque, and Tslave is the first torque.

[0124] Taking into account that the master and slave chips have a torque degradation strategy and the maximum torque output capabilities of the master and slave chips are different, different distribution coefficients need to be calibrated when distributing torque. Here, the first preset system torque distribution coefficient table, that is, Map1 table calibration considers the working conditions when both chips are in a safe state.

[0125] a) On the motor pairing test bench, keep the speed at ω, the motor controller adopts the torque closed-loop control mode, and gives the torque command △Tq. The torque command of the master and slave chips is changed in equal steps and stepwise (here, in the Map1 calibration process, the total torque command needs to be limited to Tq≤2*Tmax, and Tmain≤Tmax, Tslave≤Tmax need to be guaranteed, and equations 1 and 2 are satisfied). Calculate the overall efficiency of the motor under each distribution condition (the efficiency calculation method is shown in equation 3). Further, compare the overall efficiency of the motor under various distribution conditions to obtain the optimal efficiency distribution coefficient TqFac0 under the current operating point;

[0126] η=Tq*ω / (U*I) (Formula 3)

[0127] Among them, Tq is the total torque command, that is, the torque command, in Nm; ω is the motor speed, in rad / s; U is the bus voltage, in V; I is the bus current, in A.

[0128] b) changing the total torque command Tq in a stepwise manner with equal step length, repeating the motor efficiency test with different torque commands according to the method described in step a), and obtaining the optimal efficiency distribution coefficients TqFac1…TqFacn under a fixed speed and different torque commands;

[0129] c) changing the motor speed ω in steps with equal step length, and repeating the motor efficiency test at different speeds and different torque commands according to the methods described in steps a) and b), to obtain the optimal efficiency distribution coefficients TqFac11…TqFacnn at all operating points;

[0130] d) Finally, the distribution coefficient table under different speed-torque can be obtained, as shown in Table 1 below.

[0131] For the torque distribution Map1 table, Tqmax=2*Tmax in the table.

[0132] Table 1 Distribution coefficient table under different speed-torque Map

[0133]

[0134]

[0135] The calculation rule corresponding to the target torque coefficient in the second preset system torque distribution coefficient table includes that the torque command is less than or equal to the second target torque, the second target torque is generated based on the first target torque and a preset power-assistance degradation ratio coefficient, the first torque is less than the first target torque, and the second torque is less than the product of the preset power-assistance degradation ratio coefficient and the first target torque;

[0136] It should be noted that (1+TqErrFac)*Tmax is the second target torque, Tmain is the first torque, Tslave is the first torque, and TqErrFac is the preset power assistance degradation proportional coefficient.

[0137] Taking into account the torque degradation strategy of the master and slave chips, the maximum torque output capabilities of the master and slave chips are different, so different distribution coefficients need to be calibrated when distributing torque. Here, the second preset system torque distribution coefficient table, that is, the Map2 table calibration considers the working condition where one chip is in a power-assisted degradation state and the other chip is in a safe state.

[0138] a) On the motor pairing test bench, keep the speed at ω, the motor controller adopts the torque closed-loop control mode, and gives the torque command △Tq. The torque command of the master and slave chips is changed in equal steps and step-by-step (here, in the Map2 calibration process, the total torque command needs to be limited to Tq≤(1+TqErrFac)*Tmax, and at the same time, it needs to ensure that Tmain≤Tmax, Tslave≤TqErrFac*Tmax, and satisfy equations 1 and 2). Calculate the overall efficiency of the motor under each distribution condition (the efficiency calculation method is shown in equation 3). Further, compare the overall efficiency of the motor under various distribution conditions to obtain the optimal efficiency distribution coefficient TqFac0 under the current operating point;

[0139] b) Repeating the motor efficiency test with different torque commands according to the method described in step a) to obtain the optimal efficiency distribution coefficients TqFac1…TqFacn under fixed speed and different torque commands;

[0140] c) Repeating the motor efficiency test at different speeds and different torque commands according to the method described in steps a) and b) to obtain the optimal efficiency distribution coefficients TqFac11…TqFacnn at all operating points;

[0141] d) Finally, the distribution coefficient table under different speed-torque conditions can be obtained, as shown in Table 1.

[0142] For the torque distribution Map2 table, in the table, Tqmax=(1+TqErrFac)*Tmax.

[0143] The calculation rules corresponding to the target torque coefficient in the third preset system torque distribution coefficient table include the torque command being less than or equal to the third target torque, the third target torque being generated based on the twice first target torque and a preset power-assistance demotion proportional coefficient, the first torque being less than the product of the first target torque and the preset power-assistance demotion proportional coefficient, and the second torque being less than the product of the preset power-assistance demotion proportional coefficient and the first target torque.

[0144] It should be noted that 2*TqErrFac*Tmax is the third target torque, Tmain is the first torque, Tslave is the first torque, and TqErrFac is the preset power assistance degradation proportional coefficient.

[0145] Taking into account that the master and slave chips have a torque degradation strategy and the maximum torque output capabilities of the master and slave chips are different, different distribution coefficients need to be calibrated when distributing torque. Here, the third preset system torque distribution coefficient table, that is, the Map3 table calibration considers the working condition where the two chips are in a power-assisted degradation state.

[0146] a) On the motor pairing test bench, keep the speed at ω, the motor controller adopts the torque closed-loop control mode, and gives the torque command △Tq. The torque command of the master and slave chips is changed in equal steps and step-by-step (here, in the Map3 calibration process, the total torque command needs to be limited to Tq≤2*TqErrFac*Tmax, and at the same time, it needs to ensure that Tmain≤TqErrFac*Tmax, Tslave≤TqErrFac*Tmax, and satisfy equations 1 and 2). Calculate the overall efficiency of the motor under each distribution condition (the efficiency calculation method is shown in equation 3). Further, compare the overall efficiency of the motor under various distribution conditions to obtain the optimal efficiency distribution coefficient TqFac0 under the current operating point;

[0147] b) Repeating the motor efficiency test with different torque commands according to the method described in step a) to obtain the optimal efficiency distribution coefficients TqFac1…TqFacn under fixed speed and different torque commands;

[0148] c) Repeating the motor efficiency test at different speeds and different torque commands according to the method described in steps a) and b) to obtain the optimal efficiency distribution coefficients TqFac11…TqFacnn at all operating points;

[0149] d) Finally, the distribution coefficient table under different speed-torque conditions can be obtained, as shown in Table 1.

[0150] For the torque distribution Map3 table, in the table, Tqmax=2*TqErrFac*Tmax.

[0151] An embodiment of the present invention provides a motor torque distribution method, in the case of detecting that the dual redundant motor system is in a power-on state, determining the master motor system and the slave motor system corresponding to the dual redundant motor system; determining the first system state corresponding to the master motor system and the second system state corresponding to the slave motor system; determining the first torque corresponding to the master motor system and the second torque corresponding to the slave motor system based on the first system state, the second system state and a preset system torque distribution coefficient table. The embodiment of the present invention detects the power-on state of the dual redundant motor system in real time, dynamically determines the master and slave motor systems and their corresponding system states, and intelligently distributes the torque of the master and slave motors based on the preset system torque distribution coefficient table, thereby optimizing the overall efficiency and performance of the motor system in the linear steering system under different working conditions, ensuring the reliability and safety of the motor system in the linear steering system, that is, the embodiment of the present application reasonably judges the system states of the two systems in normal working and fault states by setting the dual redundant motor system, and determines the efficient distribution of the master and slave roles and torque according to the system state and the distribution coefficient calibrated in advance, thereby reducing the failure rate of the system and improving the execution efficiency of the motor.

[0152] Reference Figure 2 , Figure 2 A schematic flow chart of another motor torque distribution method provided by an embodiment of the present invention, the motor torque distribution method comprises the following steps:

[0153] Step 201, when it is detected that the dual redundant motor system is in a powered-on state, determining a master motor system and a slave motor system corresponding to the dual redundant motor system;

[0154] Step 202, determining a first system state corresponding to the master motor system and a second system state corresponding to the slave motor system;

[0155] Step 203, if the first system state corresponding to the master motor system is a fault state, and the second system state corresponding to the slave motor system is a safe state or a power-assisted degraded state, control the master motor system to switch to the slave motor system, and the slave motor system to switch to the master motor system.

[0156] It should be noted that in the embodiment of the present application, referring to the foregoing discussion, the switching of system roles depends on the status of the master and slave chips.

[0157] Specifically, when the master chip is in a safe state or a power-assisted degraded state, the first system state corresponding to the main motor system is also a safe state or a power-assisted degraded state, and the master chip maintains its role; when the master chip is in a faulty state, the first system state corresponding to the main motor system is also a faulty state, and the slave chip is not in a faulty state, role switching is implemented, and the slave chip role is switched to the master chip to exercise dominance of the system; in other states, the roles of the master and slave chips remain unchanged, and no role switching is performed.

[0158] Step 204 : determining a first torque corresponding to the master motor system and a second torque corresponding to the slave motor system based on the first system state, the second system state, and a preset system torque distribution coefficient table.

[0159] The embodiment of the present invention detects the power-on status of the dual redundant motor system in real time, dynamically determines the master-slave motor system and its corresponding system status, and intelligently distributes the torque of the master and slave motors based on a preset system torque distribution coefficient table, thereby optimizing the overall efficiency and performance of the motor system in the linear steering system under different working conditions, and ensuring the reliability and safety of the motor system in the linear steering system. That is, the embodiment of the present application reasonably judges the system status of the two systems under normal working and fault conditions by setting the dual redundant motor system, and determines the switching of the master-slave roles and the efficient distribution of torque according to the system status and the distribution coefficient calibrated in advance, thereby reducing the failure rate of the system and improving the execution efficiency of the motor.

[0160] The present invention also relates to a motor torque distribution device, the device block diagram of which is as follows: Figure 3 As shown, including:

[0161] The first determination module 301 is used to determine the master motor system and the slave motor system corresponding to the dual redundant motor system when it is detected that the dual redundant motor system is in a powered-on state;

[0162] A second determination module 302 is used to determine a first system state corresponding to the master motor system and a second system state corresponding to the slave motor system;

[0163] The third determination module 303 is used to determine the first torque corresponding to the master motor system and the second torque corresponding to the slave motor system based on the first system state, the second system state and a preset system torque distribution coefficient table.

[0164] Optionally, the dual redundant motor system includes a first chip and a second chip; the first determination module includes:

[0165] A first determining submodule is configured to determine that if the first target pin of the first chip is at a first level and the second target pin of the second chip is at a second level, the first motor system corresponding to the first chip is a master motor system and the second motor system corresponding to the second chip is a slave motor system;

[0166] The second determining submodule is used for, if the first target pin of the first chip is at the second level and the second target pin of the second chip is at the first level, then the first motor system corresponding to the first chip is the slave motor system and the second motor system corresponding to the second chip is the master motor system.

[0167] Optionally, the device further comprises:

[0168] A control module is used to control the main motor system to switch to the slave motor system, and the slave motor system to switch to the main motor system if the first system state corresponding to the main motor system is a fault state and the second system state corresponding to the slave motor system is a safe state or a power-assisted degradation state.

[0169] Optionally, the third determining module includes:

[0170] a third determination submodule, configured to determine a first torque coefficient corresponding to the master motor system and a second torque coefficient corresponding to the slave motor system based on the first system state, the second system state, and a preset system torque distribution coefficient table;

[0171] The fourth determination submodule is used to determine the first torque corresponding to the master motor system and the second torque corresponding to the slave motor system based on the pre-acquired torque command, the first torque coefficient and the second torque coefficient.

[0172] Optionally, the third determining submodule includes:

[0173] a first unit, configured to determine, based on a first preset system torque distribution coefficient table, a first torque coefficient corresponding to the master motor system and a second torque coefficient corresponding to the slave motor system when detecting that a first system state corresponding to the master motor system and a second system state corresponding to the slave motor system are in a safe state;

[0174] a second unit, for determining a first torque coefficient corresponding to the main motor system and a second torque coefficient corresponding to the slave motor system based on a second preset system torque distribution coefficient table when it is detected that the first system state corresponding to the main motor system is a power-assisted degraded state and the second system state corresponding to the slave motor system is a safe state, and the first system state corresponding to the main motor system is a safe state and the second system state corresponding to the slave motor system is a power-assisted degraded state;

[0175] The third unit is used to determine the first torque coefficient corresponding to the main motor system and the second torque coefficient corresponding to the slave motor system based on a third preset system torque distribution coefficient table when it is detected that the first system state corresponding to the main motor system and the second system state corresponding to the slave motor system are in a power-assisted degraded state.

[0176] Optionally, the third determination submodule is specifically used for generating the target torque coefficient calculated based on the first system state corresponding to the main motor system and the second system state corresponding to the slave motor system under different torque instructions and different motor speeds based on 6. The first preset system torque distribution coefficient table or the second preset system torque distribution coefficient table or the third preset system torque distribution coefficient table is generated based on the first system state corresponding to the main motor system and the second system state corresponding to the slave motor system under different torque instructions and different motor speeds, and the target torque coefficient includes the first torque coefficient corresponding to the main motor system and the second torque coefficient corresponding to the slave motor system;

[0177] The calculation rule corresponding to the target torque coefficient in the first preset system torque distribution coefficient table includes that the torque command is less than or equal to twice the first target torque, the first torque is less than the first target torque, and the second torque is less than the first target torque;

[0178] The calculation rule corresponding to the target torque coefficient in the second preset system torque distribution coefficient table includes that the torque command is less than or equal to the second target torque, the second target torque is generated based on the first target torque and a preset power-assistance degradation ratio coefficient, the first torque is less than the first target torque, and the second torque is less than the product of the preset power-assistance degradation ratio coefficient and the first target torque;

[0179] The calculation rules corresponding to the target torque coefficient in the third preset system torque distribution coefficient table include the torque command being less than or equal to the third target torque, the third target torque being generated based on the twice first target torque and a preset power-assistance demotion proportional coefficient, the first torque being less than the product of the first target torque and the preset power-assistance demotion proportional coefficient, and the second torque being less than the product of the preset power-assistance demotion proportional coefficient and the first target torque.

[0180] The embodiment of the present invention detects the power-on status of the dual redundant motor system in real time, dynamically determines the master-slave motor system and its corresponding system status, and intelligently distributes the torque of the master and slave motors based on a preset system torque distribution coefficient table, thereby optimizing the overall efficiency and performance of the motor system in the linear steering system under different working conditions, and ensuring the reliability and safety of the motor system in the linear steering system. That is, the embodiment of the present application reasonably judges the system status of the two systems under normal working and fault conditions by setting the dual redundant motor system, and determines the switching of the master-slave roles and the efficient distribution of torque according to the system status and the distribution coefficient calibrated in advance, thereby reducing the failure rate of the system and improving the execution efficiency of the motor.

[0181] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0182] A third embodiment of the present invention relates to a storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the steps of the motor torque distribution method as described in the first aspect.

[0183] A fourth embodiment of the present invention provides a vehicle, the vehicle comprising the motor torque distribution device according to the second aspect of the present invention.

[0184] The embodiment of the present invention further provides an electronic device, such as Figure 4 As shown, it includes a processor 901, a communication interface 902, a memory 903 and a communication bus 904, wherein the processor 901, the communication interface 902, and the memory 903 communicate with each other through the communication bus 904.

[0185] Memory 903, used for storing computer programs;

[0186] The processor 901 is used to execute the program stored in the memory 903 to implement the following steps:

[0187] When it is detected that the dual redundant motor system is in a powered-on state, determining a master motor system and a slave motor system corresponding to the dual redundant motor system;

[0188] Determine a first system state corresponding to the master motor system and a second system state corresponding to the slave motor system;

[0189] A first torque corresponding to the master motor system and a second torque corresponding to the slave motor system are determined based on the first system state, the second system state, and a preset system torque distribution coefficient table.

[0190] The communication bus mentioned in the above terminal can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0191] The communication interface is used for communication between the above terminal and other devices.

[0192] The memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0193] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0194] In another embodiment provided by the present invention, a computer-readable storage medium is provided, in which instructions are stored. When the computer-readable storage medium is run on a computer, the computer executes the software version upgrade method described in any of the above embodiments.

[0195] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk Sol logo State Disk (SSD)), etc.

[0196] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0197] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0198] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A motor torque distribution method, characterized in that: The method comprises: When it is detected that the dual redundant motor system is in a powered-on state, determining a master motor system and a slave motor system corresponding to the dual redundant motor system; Determine a first system state corresponding to the master motor system and a second system state corresponding to the slave motor system; A first torque corresponding to the master motor system and a second torque corresponding to the slave motor system are determined based on the first system state, the second system state, and a preset system torque distribution coefficient table.

2. The method according to claim 1, wherein the dual redundant motor system comprises a first chip and a second chip; and the step of determining the master motor system and the slave motor system corresponding to the dual redundant motor system comprises: If the first target pin of the first chip is at a first level and the second target pin of the second chip is at a second level, the first motor system corresponding to the first chip is a master motor system and the second motor system corresponding to the second chip is a slave motor system.

3. The method according to claim 1, characterized in that The dual redundant motor system comprises a first chip and a second chip; the step of determining the master motor system and the slave motor system corresponding to the dual redundant motor system comprises: If the first target pin of the first chip is at the second level and the second target pin of the second chip is at the first level, the first motor system corresponding to the first chip is a slave motor system and the second motor system corresponding to the second chip is a master motor system.

4. The method according to claim 1, characterized in that: After the step of determining the first system state corresponding to the master motor system and the second system state corresponding to the slave motor system, the method includes: If the first system state corresponding to the main motor system is a fault state, and the second system state corresponding to the slave motor system is a safe state or a power-assisted degradation state, the main motor system is controlled to switch to the slave motor system, and the slave motor system is switched to the main motor system.

5. The method according to claim 1, characterized in that The determining of the first torque corresponding to the master motor system and the second torque corresponding to the slave motor system based on the first system state, the second system state and a preset system torque distribution coefficient table includes: Determine a first torque coefficient corresponding to the master motor system and a second torque coefficient corresponding to the slave motor system based on the first system state, the second system state, and a preset system torque distribution coefficient table; A first torque corresponding to the master motor system and a second torque corresponding to the slave motor system are determined based on a pre-acquired torque command, the first torque coefficient, and the second torque coefficient.

6. The method according to claim 5, characterized in that The determining of the first torque coefficient corresponding to the master motor system and the second torque coefficient corresponding to the slave motor system based on the first system state, the second system state and a preset system torque distribution coefficient table includes: When it is detected that the first system state corresponding to the master motor system and the second system state corresponding to the slave motor system are in a safe state, determining a first torque coefficient corresponding to the master motor system and a second torque coefficient corresponding to the slave motor system based on a first preset system torque distribution coefficient table; Determining a first torque coefficient corresponding to the main motor system and a second torque coefficient corresponding to the slave motor system based on a second preset system torque distribution coefficient table when it is detected that the first system state corresponding to the main motor system is a power-assisted degraded state and the second system state corresponding to the slave motor system is a safe state, and the first system state corresponding to the main motor system is a safe state and the second system state corresponding to the slave motor system is a power-assisted degraded state; When it is detected that the first system state corresponding to the main motor system and the second system state corresponding to the slave motor system are in a power-assisted degraded state, the first torque coefficient corresponding to the main motor system and the second torque coefficient corresponding to the slave motor system are determined based on a third preset system torque distribution coefficient table.

7. The method according to claim 6, characterized in that The first preset system torque distribution coefficient table or the second preset system torque distribution coefficient table or the third preset system torque distribution coefficient table is generated based on the target torque coefficient calculated under different torque instructions and different motor speeds based on the first system state corresponding to the main motor system and the second system state corresponding to the slave motor system, and the target torque coefficient includes the first torque coefficient corresponding to the main motor system and the second torque coefficient corresponding to the slave motor system.

8. The method according to claim 7, characterized in that The calculation rule corresponding to the target torque coefficient in the first preset system torque distribution coefficient table includes that the torque command is less than or equal to twice the first target torque, the first torque is less than the first target torque, and the second torque is less than the first target torque; The calculation rule corresponding to the target torque coefficient in the second preset system torque distribution coefficient table includes that the torque command is less than or equal to the second target torque, the second target torque is generated based on the first target torque and a preset power-assistance degradation ratio coefficient, the first torque is less than the first target torque, and the second torque is less than the product of the preset power-assistance degradation ratio coefficient and the first target torque; The calculation rules corresponding to the target torque coefficient in the third preset system torque distribution coefficient table include the torque command being less than or equal to the third target torque, the third target torque being generated based on the twice first target torque and a preset power-assistance demotion proportional coefficient, the first torque being less than the product of the first target torque and the preset power-assistance demotion proportional coefficient, and the second torque being less than the product of the preset power-assistance demotion proportional coefficient and the first target torque.

9. A motor torque distribution device, characterized in that: The device comprises: A first determination module is used to determine a master motor system and a slave motor system corresponding to the dual redundant motor system when it is detected that the dual redundant motor system is in a powered-on state; A second determination module, used to determine a first system state corresponding to the master motor system and a second system state corresponding to the slave motor system; The third determination module is used to determine the first torque corresponding to the main motor system and the second torque corresponding to the slave motor system based on the first system state, the second system state and a preset system torque distribution coefficient table.

10. A vehicle, characterized in that: Includes the motor torque distribution device as described in claim 7.

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