Torque control method and device of multi-rotation motor and vehicle

Abstract

The invention discloses a torque control method and device of a multi-rotation motor and a vehicle, and relates to the technical field of engineering machinery. The torque control method for the multiple rotary motors comprises the steps that the required torque and the change gradient of the required torque of a vehicle are determined according to opening change information of a rotary handle, and the vehicle comprises the multiple rotary motors; according to the demand torque, the change gradient of the demand torque, the actual torque of each rotary motor in the plurality of rotary motors and the battery state, determining the distribution torque of each rotary motor and the change gradient of the distribution torque; and controlling each rotary motor to perform rotary driving according to the actual torque, the distribution torque and the change gradient of the distribution torque of each rotary motor.

Description

Technical Field

[0001] The present disclosure relates to the technical field of engineering machinery, and in particular to a torque control method, device and vehicle for a multi-rotation motor. Background Art

[0002] Most traditional power engineering machinery uses hydraulic systems for power transmission. Although hydraulic systems have advantages such as easy control and large driving torque, they also have many problems such as sensitivity to temperature changes, leakage risks, and high manufacturing costs. Especially when engineering machinery is in continuous operation for a long time and the load is complex and changeable, the temperature increase of the hydraulic system will lead to a decrease in the operating efficiency of the engineering machinery. Considering the rapid development of new energy engineering machinery in recent years, motor-driven engineering machinery is currently used to solve the above problems. Summary of the invention

[0003] A technical problem to be solved by the present disclosure is: how to improve the operating efficiency of a multi-rotation motor in rotating a vehicle.

[0004] According to a first aspect of some embodiments of the present disclosure, a torque control method for multiple rotary motors is provided, comprising: determining a vehicle's required torque and a gradient of change of the required torque based on information on changes in the opening of a rotary handle, wherein the vehicle comprises multiple rotary motors; determining the distributed torque and the gradient of change of the distributed torque of each rotary motor based on the required torque, the gradient of change of the required torque, the actual torque of each rotary motor in the multiple rotary motors, and a battery status; and controlling each rotary motor for rotary drive based on the actual torque of each rotary motor, the distributed torque and the gradient of change of the distributed torque.

[0005] In some embodiments, the distributed torque of each rotary motor and the gradient of the distributed torque are determined based on the required torque, the gradient of the change of the required torque, the actual torque of each rotary motor among the multiple rotary motors, and the battery status, including: determining the distributed torque of each rotary motor based on the required torque, the difference between the actual torques of the multiple rotary motors, and the battery status; determining the gradient of the change of the distributed torque of each rotary motor based on the gradient of the change of the required torque and the difference between the actual torque of each rotary motor and the distributed torque.

[0006] In some embodiments, determining the allocated torque of each rotary motor based on the required torque, the difference between the actual torques of the multiple rotary motors, and the battery status includes: determining whether the multiple rotary motors are capable of rotary drive based on the battery status; if the multiple rotary motors are capable of rotary drive, determining the allocated torque of each rotary motor based on the difference between the required torque and the actual torques of the multiple rotary motors.

[0007] In some embodiments, determining the distributed torque of each rotary motor based on the required torque, the difference between the actual torques of the multiple rotary motors, and the battery status includes: inputting the required torque, the difference between the actual torques of the multiple rotary motors, and the battery status into a first fuzzy controller, and obtaining the distributed torques of the multiple rotary motors output by the first fuzzy controller.

[0008] In some embodiments, for each rotary motor, the difference between the allocated torque of the rotary motor and the real-time torque is positively correlated with the change gradient of the allocated torque of the rotary motor.

[0009] In some embodiments, determining the changing gradient of the distributed torque of each rotary motor based on the changing gradient of the required torque and the difference between the distributed torque of each rotary motor and the actual torque includes: determining the range of the changing gradient of the distributed torque of each rotary motor based on the changing gradient of the required torque; and determining the changing gradient of the distributed torque of each rotary motor from the range based on the difference between the distributed torque of each rotary motor and the actual torque.

[0010] In some embodiments, determining the changing gradient of the distributed torque of each rotary motor based on the changing gradient of the required torque, the difference between the distributed torque of each rotary motor and the actual torque includes: inputting the changing gradient of the required torque, the difference between the distributed torque of each rotary motor and the actual torque into the second fuzzy controller to obtain the changing gradient of the distributed torque of each rotary motor output by the second fuzzy controller.

[0011] In some embodiments, controlling each rotary motor to perform rotary drive according to the actual torque, the distributed torque and the changing gradient of the distributed torque of each rotary motor includes: when the actual torque of each rotary motor is greater than a first threshold, controlling each rotary motor to perform rotary drive according to the distributed torque and the changing gradient of the distributed torque.

[0012] In some embodiments, controlling each rotary motor for rotary driving according to the actual torque, the allocated torque and the changing gradient of the allocated torque of each rotary motor includes: when the actual torque of any rotary motor among the multiple rotary motors is less than a first threshold, determining whether to control the multiple rotary motors for rotary driving according to the allocated torque of each rotary motor and the changing gradient of the allocated torque.

[0013] In some embodiments, determining whether to control multiple rotary motors for rotary driving based on the allocated torque of each rotary motor and the changing gradient of the allocated torque includes: when the allocated torque of each rotary motor is not greater than a second threshold and / or the changing gradient of the allocated torque is not greater than a third threshold, determining that each rotary motor is prohibited from performing rotary driving.

[0014] In some embodiments, determining whether to control multiple rotary motors for rotary driving based on the allocated torque of each rotary motor and the gradient of change of the allocated torque includes: when the allocated torque of each rotary motor is greater than a second threshold, the gradient of change of the allocated torque is greater than a third threshold, and the duration of the actual torque being less than the first threshold does not exceed a fourth threshold, determining to control each rotary motor for rotary driving according to the allocated torque and the gradient of change of the allocated torque.

[0015] In some embodiments, determining whether to control multiple rotary motors for rotary driving based on the allocated torque of each rotary motor and the changing gradient of the allocated torque includes: when the allocated torque of each rotary motor is greater than a second threshold, the changing gradient of the allocated torque is greater than a third threshold, and the duration that the actual torque is less than the first threshold exceeds a fourth threshold, determining that each rotary motor is prohibited from performing rotary driving.

[0016] In some embodiments, the opening change information of the rotary handle includes a change value of the opening of the rotary handle and a change rate of the opening of the rotary handle.

[0017] In some embodiments, the vehicle includes two rotary electric machines.

[0018] According to a second aspect of some embodiments of the present disclosure, a torque control device for a multi-rotating motor is provided, comprising: a first determination module, configured to determine a vehicle's required torque and a gradient of change of the required torque based on information on a change in the opening of a rotary handle, wherein the vehicle comprises multiple rotary motors; a second determination module, configured to determine the distributed torque and the gradient of change of the distributed torque of each rotary motor based on the required torque, the gradient of change of the required torque, the actual torque of each rotary motor in the multiple rotary motors, and a battery status; and a control module, configured to control each rotary motor for rotary drive based on the actual torque of each rotary motor, the distributed torque and the gradient of change of the distributed torque.

[0019] According to a third aspect of some embodiments of the present disclosure, there is provided a torque control device for a multi-rotation motor, comprising: a processor; and a memory coupled to the processor, for storing instructions, which, when executed by the processor, causes the processor to execute the control method for the rotary motor as described above.

[0020] According to a fourth aspect of some embodiments of the present disclosure, a vehicle is provided, comprising: a torque control device for a multi-rotation motor as described above.

[0021] According to a fifth aspect of some embodiments of the present disclosure, a computer-readable storage medium is provided, on which computer instructions are stored, wherein when the program is executed by a processor, the torque control method of the multi-rotation motor as described above is implemented.

[0022] According to a sixth aspect of some embodiments of the present disclosure, there is provided a computer program product comprising instructions, which, when executed by a processor, cause the processor to execute the torque control method for a multi-rotation motor as described above.

[0023] The present disclosure can distribute the required torque of the vehicle to each rotary motor according to the opening change information of the rotary handle and the actual torque of each rotary motor in the multiple rotary motors, and also determine the change gradient of the required torque according to the opening change information of the rotary handle, thereby also determining the change gradient of the distributed torque of each rotary motor. Therefore, the present disclosure can realize the coordinated control of the actual torque of multiple rotary motors, and can also ensure the smooth operation of the rotary motors in the rotary drive, thereby improving the operating efficiency of the multiple rotary motors in the rotary drive of the vehicle.

[0024] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 A flow chart of a torque control method for a multi-rotation motor according to some embodiments of the present disclosure is shown.

[0027] Figure 2 A schematic structural diagram of a torque control device for a multi-rotation motor according to some embodiments of the present disclosure is shown.

[0028] Figure 3 A schematic structural diagram of a torque control device for a multi-rotation motor according to some other embodiments of the present disclosure is shown.

[0029] Figure 4 A schematic structural diagram of a torque control device for a multi-rotation motor according to some further embodiments of the present disclosure is shown.

[0030] Figure 5 A schematic structural diagram of a torque control device for a multi-rotation motor according to some further embodiments of the present disclosure is shown.

[0031] Figure 6 A schematic structural diagram of a torque control system of a multi-rotation motor according to some embodiments of the present disclosure is shown.

[0032] Figure 7A schematic structural diagram of a vehicle according to some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of 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 creative work are within the scope of protection of the present disclosure.

[0034] In some scenarios, such as large-tonnage excavators, the driving torque of a single slewing motor cannot meet the driving requirements of the slewing body, and multiple slewing motors are needed to drive the vehicle together. When a vehicle contains multiple slewing motors, the coordinated control of multiple slewing motors and the reasonable distribution of torque are more prominent issues.

[0035] Based on this, the present disclosure proposes a torque control method for a multi-rotation motor.

[0036] Figure 1 FIG. 1 is a flow chart showing a method for controlling the torque of a multi-rotation motor according to some embodiments of the present disclosure. Figure 1 As shown, the method of this embodiment includes steps S102 to S106.

[0037] In step S102, the required torque of the vehicle and the gradient of the required torque change are determined according to the opening change information of the swing handle, wherein the vehicle includes a plurality of swing motors.

[0038] The vehicle is, for example, an excavator. In order to provide sufficient power, the vehicle generally includes a plurality of rotary motors. For example, for a large-tonnage excavator, the vehicle includes at least two rotary motors.

[0039] The rotary handle is used by the driver to operate the vehicle. For example, the driver can control the direction and speed of the vehicle by controlling the opening of the rotary handle. The opening change information of the rotary handle includes the change value of the opening of the rotary handle and the change rate of the opening of the rotary handle. The change rate of the opening is determined according to the time it takes for the rotary handle to change from the opening value before the change to the opening value after the change. For example, the faster the driver turns the rotary handle, the higher the change rate of the opening, indicating that the driver's control demand for the vehicle is more urgent.

[0040] In some embodiments, the opening value k of the swing handle can be defined as belonging to the interval [-m, m], and the opening value of the swing handle at a certain moment is linearly proportionally converted according to its physical position at that moment. For example, when k=0, it means that the swing handle is in the middle position, which means that there is no need to control the swing motor. It is defined that the swing handle moves from the middle position to the first specified direction to represent the need to control the vehicle to perform a clockwise rotation operation, and it is defined that the swing handle moves from the middle position to the second specified direction to represent the need to control the vehicle to perform a counterclockwise rotation operation. For example, it can be specified that k>0 corresponds to a clockwise rotation operation, and k<0 corresponds to a counterclockwise rotation operation. k=m means that the clockwise rotation movement reaches the extreme position, and k=-m means that the counterclockwise rotation movement reaches the extreme position.

[0041] The positive or negative opening value k is defined here only to distinguish between clockwise rotation and counterclockwise rotation, and is not used to indicate that the positive or negative opening value k is used to determine the positive or negative or size of the required torque.

[0042] In some embodiments, the rate of change of the opening It can be defined as belonging to the interval [-n,n], and is calculated based on the change in the opening value of the rotary handle and the time it takes to change the opening value. For example, , it means the opening of the rotary handle does not change; When , it means the rotary handle moves from the middle position to the extreme position; When , it means the rotary handle moves to the limit position at the fastest speed; When , it means the rotary handle moves from the extreme position to the middle position; , it means the rotary handle moves to the middle position at the fastest speed.

[0043] Here we define the rate of change of the opening The positive or negative value is only used to distinguish the movement direction of the rotary handle and has nothing to do with the positive or negative or size of the required torque.

[0044] The required torque of the vehicle and the change gradient of the required torque are determined according to the change value of the opening of the rotary handle and the change rate of the opening of the rotary handle. The change value of the opening of the rotary handle and the change rate of the opening of the rotary handle are both positively correlated with the required torque of the vehicle, and the change rate of the opening of the rotary handle is positively correlated with the change gradient of the required torque. In some embodiments, the required torque of the vehicle The gradient of the required torque

[0045] According to the change value of the opening of the rotary handle and the change rate of the opening, not only the required torque of the vehicle is determined, but also the change gradient of the required torque is determined. This not only makes it easier to meet the power demand of the vehicle, but also improves the stability during the driving process.

[0046] In step S104 , the distributed torque of each rotary motor and the gradient of the distributed torque are determined according to the required torque, the gradient of the change of the required torque, the actual torque of each rotary motor among the plurality of rotary motors, and the battery state.

[0047] The required torque and the change gradient of the required torque are determined based on the swing handle change information, and then combined with the real-time torque and battery status of each swing motor to determine the drive control strategy of each swing motor to meet the vehicle's drive needs.

[0048] In some embodiments, the distributed torque of each rotary motor and the gradient of the distributed torque are determined based on the required torque, the gradient of the change of the required torque, the actual torque of each rotary motor among the multiple rotary motors, and the battery status, including: determining the distributed torque of each rotary motor based on the required torque, the difference between the actual torques of the multiple rotary motors, and the battery status; determining the gradient of the change of the distributed torque of each rotary motor based on the gradient of the change of the required torque and the difference between the actual torque of each rotary motor and the distributed torque.

[0049] In some embodiments, determining the allocated torque of each rotary motor based on the required torque, the difference between the actual torques of the multiple rotary motors, and the battery status includes: determining whether the multiple rotary motors are capable of rotary drive based on the battery status; if the multiple rotary motors are capable of rotary drive, determining the allocated torque of each rotary motor based on the difference between the required torque and the actual torques of the multiple rotary motors.

[0050] In the battery state, for example, when the battery state of charge is low, the rotary motor can only perform energy recovery and cannot perform rotary drive. When the battery state of charge is not low, the rotary motor can perform both energy recovery and rotary drive. At this time, the required torque can be distributed according to the difference between the actual torques (also called real-time torque) of multiple rotary motors so that the torques provided by all rotary motors can meet the required torque.

[0051] Determining the distributed torque of each rotary motor according to the difference of the actual torques of the plurality of rotary motors can balance the actual torques of the plurality of rotary motors to enhance the smooth operation of the rotary motion.

[0052] In some embodiments, the required torque, the difference of the actual torques of the plurality of rotary motors, and the battery state, determining the distributed torque of each rotary motor includes: inputting the required torque, the difference of the actual torques of the plurality of rotary motors, and the battery state into a first fuzzy controller, and obtaining the distributed torques of the plurality of rotary motors output by the first fuzzy controller. The distributed torque of the rotary motor refers to the part of the required torque of the vehicle that the rotary motor is responsible for providing, and the distributed torques of all rotary motors meet the required torque of the vehicle.

[0053] The first fuzzy controller can realize automatic control of the distribution torque of the rotary motor. The first fuzzy control rule of the first fuzzy controller is pre-configured. The following description is taken as an example that a vehicle includes a first rotary motor and a second rotary motor.

[0054] The input of the first fuzzy controller is the required torque T req , the actual torque T of the first rotary motor at time i i1 and the actual torque T of the second rotary motor i2 The difference ΔT i , battery state of charge SOC, output is the distribution torque T of the first rotary motor req1 , the distributed torque T of the second rotary motor req2 .

[0055] Then the required torque T req The fuzzy subset can be defined as {-300, -200, -100, 0, 100, 200, 300} (the specific values ​​here are only exemplary and can be set according to the actual situation of the vehicle, for example, by analyzing the historical data of the vehicle), and the corresponding linguistic variables are {Tnb, Tnm, Tnz, Tz, Tps, Tpm, Tpb}, which respectively represent large negative, medium negative, small negative, zero, small positive, medium positive, and large positive.

[0056] Difference ΔT i The fuzzy subsets can also be set according to the actual situation of the vehicle, and the corresponding linguistic variables are {ΔTnb, ΔTnm, ΔTnz, ΔTz, ΔTps, ΔTpm, ΔTpb}, which respectively represent negative large, negative medium, negative small, zero, positive small, positive medium, and positive large.

[0057] The fuzzy subset of the battery state of charge SOC can be defined as {0, 30, 80, 100} (the specific values ​​here are only exemplary), and the corresponding linguistic variables are {z, s, m, b}, representing zero, positive small, positive middle, and positive large, respectively.

[0058] The distributed torque T of the first rotary electric machine req1 and the distributed torque T of the second rotary motor req1 The fuzzy subsets can also be set according to the actual situation of the vehicle, and the corresponding language variables are {T1nb, T1nm, T1nz, T1z, T1ps, T1pm, T1pb}, which respectively represent negative large, negative medium, negative small, zero, positive small, positive medium, and positive large.

[0059] When configuring the first fuzzy control rule, all situations where the three input variables take any value, that is, any combination of the three input variable values, can be included. In this way, the first fuzzy controller can cover any working condition of the vehicle and automatically control the distributed torque of the rotary motor under any working condition.

[0060] When configuring the first fuzzy control rule, it is necessary to coordinate the actual torque of the first rotary motor and the second rotary motor when the rotary motor is capable of rotary driving. For example, when the actual torque of the first rotary motor is large, it can be set to be responsible for providing a smaller part of the required torque, so that the difference between the first rotary motor and the second rotary motor after adjusting their respective allocated torques is within a preset range.

[0061] The first fuzzy controller can realize automatic control of the distributed torque of the rotary motor according to the required torque, the actual torque of the rotary motor and the battery status. This is not only efficient, but also can be continuously adjusted according to the actual status of the rotary motor, thereby contributing to the smooth operation of the vehicle's rotary drive.

[0062] In some embodiments, for each rotary motor, the difference between the allocated torque and the real-time torque of the rotary motor is positively correlated with the change gradient of the allocated torque of the rotary motor. The change gradient of the allocated torque of the rotary motor refers to the change gradient when the rotary motor is adjusted from the actual torque to the allocated torque, that is, the torque change gradient.

[0063] In some embodiments, determining the changing gradient of the distributed torque of each rotary motor based on the changing gradient of the required torque and the difference between the distributed torque of each rotary motor and the actual torque includes: determining the range of the changing gradient of the distributed torque of each rotary motor based on the changing gradient of the required torque; and determining the changing gradient of the distributed torque of each rotary motor from the range based on the difference between the distributed torque of each rotary motor and the actual torque.

[0064] The change gradient of the required torque is used to guide the torque change gradient of the rotary motor, that is, to reduce the vehicle vibration caused by the rotary motor rotating too fast during the adjustment to the distributed torque, and also to reduce the rotary motor rotating too slowly during the adjustment to the distributed torque and unable to meet the vehicle's driving needs in time.

[0065] In some embodiments, determining the changing gradient of the distributed torque of each rotary motor based on the changing gradient of the required torque, the difference between the distributed torque of each rotary motor and the actual torque includes: inputting the changing gradient of the required torque, the difference between the distributed torque of each rotary motor and the actual torque into the second fuzzy controller to obtain the changing gradient of the distributed torque of each rotary motor output by the second fuzzy controller.

[0066] Similar to the above-mentioned control of the distributed torque, the second fuzzy controller can be used to realize automatic control of the change gradient of the distributed torque of the rotary motor. The following description is still based on an example that the vehicle includes the first rotary motor and the second rotary motor.

[0067] The input of the second fuzzy controller is the change gradient of the required torque, the difference between the allocated torque and the actual torque of the first rotary motor, and the difference between the allocated torque and the actual torque of the second rotary motor. The output is the change gradient of the allocated torque of the first rotary motor and the change gradient of the allocated torque of the second rotary motor.

[0068] Similar to the first fuzzy control rule, when configuring the second fuzzy control rule, the fuzzy subsets of the input variables and the corresponding linguistic variables are first defined. For example, the linguistic variables corresponding to the input variables of the second fuzzy controller are also represented by negative large, negative medium, negative small, zero, positive small, positive medium, and positive large. No further details are given here.

[0069] When configuring the second fuzzy control rule, it is configured according to the difference between the allocated torque and the actual torque of the rotary motor. For example, when the difference between the allocated torque and the actual torque of the rotary motor is large, a correspondingly larger change gradient is set to achieve a rapid response of the rotary motor torque; when the difference between the allocated torque and the actual torque of the rotary motor is small, a correspondingly smaller change gradient is set to reduce the torque change oscillation of the rotary motor caused by the rotary motor torque increasing too quickly and exceeding the rotary torque change gradient limit.

[0070] The automatic control of the rotary motor can be achieved through the first fuzzy controller and the second fuzzy controller. The present disclosure does not limit the automatic control method to the fuzzy controller. In fact, other automatic control algorithms can also be used, such as deep learning algorithms.

[0071] In step S106 , each rotary motor is controlled to perform rotary driving according to the actual torque of each rotary motor, the distributed torque and the change gradient of the distributed torque.

[0072] In some embodiments, controlling each rotary motor to perform rotary drive according to the actual torque of each rotary motor, the distributed torque and the changing gradient of the distributed torque includes: when the actual torque of each rotary motor is greater than a first threshold, controlling each rotary motor to perform rotary drive according to the distributed torque and the changing gradient of the distributed torque.

[0073] The first threshold refers to the effective value of the actual torque of the rotary motor. When the actual torque of the rotary motor is greater than the effective value of the actual torque, it means that the rotary motor is in the rotary drive process and can perform normal rotary drive. When the actual torque of the rotary motor is not greater than the effective value of the actual torque, it means that the rotary motor is in a locked state and cannot perform normal rotary drive.

[0074] In some embodiments, controlling each rotary motor for rotary driving according to the actual torque, the allocated torque and the changing gradient of the allocated torque of each rotary motor includes: when the actual torque of any rotary motor among the multiple rotary motors is less than a first threshold, determining whether to control the multiple rotary motors for rotary driving according to the allocated torque of each rotary motor and the changing gradient of the allocated torque.

[0075] In some embodiments, determining whether to control multiple rotary motors for rotary driving based on the allocated torque of each rotary motor and the changing gradient of the allocated torque includes: when the allocated torque of each rotary motor is not greater than a second threshold and / or the changing gradient of the allocated torque is not greater than a third threshold, determining that each rotary motor is prohibited from performing rotary driving.

[0076] The second threshold refers to the effective value of the allocated torque of the rotary motor. When the allocated torque of the rotary motor is less than the effective value of the allocated torque, it means that the rotary motor is not required to perform rotary drive. The third threshold refers to the effective value of the torque change gradient. When the change gradient of the allocated torque of the rotary motor is less than the effective value of the torque change gradient, it means that the change of the torque of the rotary motor is not controlled.

[0077] When the actual torque of the rotary motor is not greater than the effective value of the actual torque, the distributed torque is less than the effective value of the distributed torque, or the change gradient of the distributed torque of the rotary motor is less than the effective value of the torque change gradient, it means that the rotary motor is in a locked state and cannot perform normal rotary drive.

[0078] In some embodiments, determining whether to control multiple rotary motors for rotary driving based on the allocated torque of each rotary motor and the gradient of change of the allocated torque includes: when the allocated torque of each rotary motor is greater than a second threshold, the gradient of change of the allocated torque is greater than a third threshold, and the duration of the actual torque being less than the first threshold does not exceed a fourth threshold, determining to control each rotary motor for rotary driving according to the allocated torque and the gradient of change of the allocated torque.

[0079] When the duration of the actual torque of the rotary motor not exceeding the effective value of the actual torque does not exceed the fourth threshold, the allocated torque is not less than the effective value of the allocated torque and the change gradient of the allocated torque of the rotary motor is not less than the effective value of the torque change gradient, it indicates that the rotary motor is in a driving state, for example, the vehicle has just started, and normal rotary drive can be performed.

[0080] In some embodiments, determining whether to control multiple rotary motors for rotary driving based on the allocated torque of each rotary motor and the changing gradient of the allocated torque includes: when the allocated torque of each rotary motor is greater than a second threshold, the changing gradient of the allocated torque is greater than a third threshold, and the duration that the actual torque is less than the first threshold exceeds a fourth threshold, determining that each rotary motor is prohibited from performing rotary driving.

[0081] When the duration of the duration during which the actual torque of the rotary motor is not greater than the effective value of the actual torque exceeds the fourth threshold, even if the allocated torque is not less than the effective value of the allocated torque and the change gradient of the allocated torque of the rotary motor is not less than the effective value of the torque change gradient, it also indicates that the rotary motor is in a locked state. For example, the rotary motor may fail at this time and cannot perform normal rotary drive.

[0082] By prohibiting the slewing motor from performing slewing driving in some cases, the safety of the vehicle can be improved, and safety accidents caused by the slewing motor still performing slewing driving when the vehicle fails can be prevented.

[0083] The control method disclosed in the present invention can distribute the required torque of the vehicle to each rotary motor according to the opening change information of the rotary handle and the actual torque of each rotary motor in the multiple rotary motors, and the present invention also determines the change gradient of the required torque according to the opening change information of the rotary handle, thereby also being able to determine the change gradient of the distributed torque of each rotary motor. Therefore, the present invention can realize the coordinated control of the actual torque of multiple rotary motors, and can also ensure the smooth operation of the rotary motors in the rotary drive, so that the present invention can improve the operating efficiency of the multiple rotary motors in the rotary drive of the vehicle.

[0084] Figure 2 The structure diagram of the torque control device of the multi-rotation motor in some embodiments of the present disclosure is shown. Figure 2 As shown, the control device 20 of the rotary electric machine of the vehicle includes modules 210-230.

[0085] The first determination module 210 is configured to determine the required torque of the vehicle and the gradient of the required torque change according to the opening change information of the swing handle, wherein the vehicle includes a plurality of swing motors.

[0086] The second determination module 220 is configured to determine the distributed torque of each rotary motor and the gradient of the distributed torque according to the required torque, the gradient of the change of the required torque, the actual torque of each rotary motor among the multiple rotary motors, and the battery status.

[0087] The control module 230 is configured to control each rotary motor to perform rotary driving based on the actual torque of each rotary motor, the distributed torque and the change gradient of the distributed torque.

[0088] In some embodiments, the second determination module 220 is configured to determine the allocated torque of each rotary motor based on the required torque, the difference between the actual torques of multiple rotary motors, and the battery status; and determine the changing gradient of the allocated torque of each rotary motor based on the changing gradient of the required torque and the difference between the actual torque of each rotary motor and the allocated torque.

[0089] In some embodiments, the second determination module 220 is configured to determine whether multiple rotary motors are capable of rotary driving according to the battery status; if multiple rotary motors are capable of rotary driving, the allocated torque of each rotary motor is determined according to the difference between the required torque and the actual torque of the multiple rotary motors.

[0090] In some embodiments, the second determination module 220 is configured to input the required torque, the difference of the actual torques of the plurality of rotary motors, and the battery status into the first fuzzy controller, and obtain the distributed torques of the plurality of rotary motors output by the first fuzzy controller.

[0091] In some embodiments, for each rotary motor, the difference between the allocated torque and the real-time torque of the rotary motor is positively correlated with the change gradient of the allocated torque of the rotary motor.

[0092] In some embodiments, the second determination module 220 is configured to determine the range of the change gradient of the distributed torque of each rotary motor according to the change gradient of the required torque; and determine the change gradient of the distributed torque of each rotary motor from the range according to the difference between the distributed torque and the actual torque of each rotary motor.

[0093] In some embodiments, the second determination module 220 is configured to input the change gradient of the required torque, the distributed torque of each rotary motor and the difference of the actual torque into the second fuzzy controller to obtain the change gradient of the distributed torque of each rotary motor output by the second fuzzy controller.

[0094] In some embodiments, the control module 230 is configured to control each rotary motor to perform rotary driving according to the distributed torque and the change gradient of the distributed torque when the actual torque of each rotary motor is greater than the first threshold.

[0095] In some embodiments, the control module 230 is configured to determine whether to control the multiple rotary motors to perform rotary driving according to the distributed torque of each rotary motor and the change gradient of the distributed torque when the actual torque of any of the multiple rotary motors is less than a first threshold.

[0096] In some embodiments, the control module 230 is configured to determine to prohibit each rotary motor from performing rotary driving when the allocated torque of each rotary motor is not greater than the second threshold and / or the change gradient of the allocated torque is not greater than the third threshold.

[0097] In some embodiments, the control module 230 is configured to determine and control each rotary motor to perform rotary drive according to the allocated torque and the gradient of change of the allocated torque when the allocated torque of each rotary motor is greater than a second threshold, the gradient of change of the allocated torque is greater than a third threshold, and the duration of the actual torque being less than the first threshold does not exceed a fourth threshold.

[0098] In some embodiments, the control module 230 is configured to determine that each rotary motor is prohibited from performing rotary driving when the allocated torque of each rotary motor is greater than a second threshold, the change gradient of the allocated torque is greater than a third threshold, and the duration of the actual torque being less than the first threshold exceeds a fourth threshold.

[0099] In some embodiments, the opening change information of the rotary handle includes a change value of the opening of the rotary handle and a change rate of the opening of the rotary handle.

[0100] In some embodiments, the vehicle includes two rotary electric machines.

[0101] The control device of the present disclosure can distribute the required torque of the vehicle to each rotary motor according to the opening change information of the rotary handle and the actual torque of each rotary motor in the multiple rotary motors, and the present disclosure also determines the change gradient of the required torque according to the opening change information of the rotary handle, thereby also being able to determine the change gradient of the distributed torque of each rotary motor. Therefore, the present disclosure can realize the coordinated control of the actual torque of multiple rotary motors, and can also ensure the smooth operation of the rotary motors in the rotary drive, so that the present disclosure can improve the operating efficiency of the multiple rotary motors in the rotary drive of the vehicle.

[0102] Figure 3 FIG. 2 shows a schematic diagram of a torque control device for a multi-rotation motor according to other embodiments of the present disclosure. Figure 3 As shown, the torque control device 30 of the multi-rotation motor includes the following parts.

[0103] The vehicle's required torque calculation module 310 is configured to determine the opening change information of the swing handle by receiving the opening of the swing handle and the rate of change of the opening of the swing handle, so as to determine the vehicle's required torque and the change gradient of the required torque (i.e., the torque change gradient corresponding to the required torque), and use it as the input signal of the swing torque adaptive control module 320.

[0104] The swing torque adaptive control module 320 includes a swing torque distribution module and a swing torque change gradient calculation module. The swing torque distribution module is configured to calculate the distribution torque of each swing motor (also referred to as the required torque of each swing motor), and the swing torque change gradient calculation module is configured to calculate the change gradient of the distribution torque of each swing motor (also referred to as the torque change gradient of each swing motor). In the figure, a vehicle including a swing motor 1 (also referred to as the first swing motor) and a swing motor 2 (also referred to as the second swing motor) is taken as an example.

[0105] The rotary motor control model 330 includes a rotary motor 1 control model and a rotary motor 2 control model. The rotary motor 1 control model is configured to control the rotary drive of the rotary motor 1 according to the rotary motor 1 required torque and the torque change gradient of the rotary motor 1 output by the rotary torque adaptive control module 320; the rotary motor 2 control model is configured to control the rotary drive of the rotary motor 2 according to the rotary motor 2 required torque and the torque change gradient of the rotary motor 2 output by the rotary torque adaptive control module 320. The rotary motor control model 330 is also configured to feed back the actual torque (also referred to as real-time torque) of the rotary motor 1 and the rotary motor 2 to the rotary torque adaptive control module 320 to achieve real-time control of the rotary motors.

[0106] In some embodiments, the rotary motor control model 330 determines the actual torque of rotary motor 1 and rotary motor 2 according to the following formula: i1 =f(T rep1 ,ΔT g1 ), T i2 =f(T rep2 ,ΔT g2 ), where ΔT g1 , ΔT g2 They respectively represent the torque change gradients of the rotary electric machine 1 and the rotary electric machine 2.

[0107] The locking control module 340 is configured to prohibit the driving of the rotary motor 1 and the rotary motor 2 according to the required torque of the rotary motor 1 and the required torque of the rotary motor 2 output by the rotary torque adaptive control module 320, the torque change gradient of the rotary motor 1 and the torque change gradient of the rotary motor 2, and the real-time torque of the rotary motor 1 and the rotary motor 2 output by the rotary motor control model 330. The locking control module 340 is used to control the locking mechanism to lock the rotary motor to keep it in a stopped state when the rotary motor meets the stop condition.

[0108] In some embodiments, the locking control module 340 may also be included in the swing torque adaptive control module 320 , that is, the swing torque adaptive control module 320 includes a swing torque distribution module, a swing torque change gradient calculation module, and a locking control module 340 .

[0109] The torque control device of the multi-rotation motor in the embodiment of the present disclosure can be implemented by various computing devices or computer systems. Figure 4 as well as Figure 5 Give a description.

[0110] Figure 4 FIG. 2 shows a schematic diagram of a torque control device for a multi-rotation motor according to some other embodiments of the present disclosure. Figure 4 As shown, the device 40 of this embodiment includes: a memory 410 and a processor 420 coupled to the memory 410, and the processor 420 is configured to execute the control method of the rotary motor of the vehicle in any of some embodiments of the present disclosure based on the instructions stored in the memory 410. Among them, the memory 410 may include, for example, a system memory, a fixed non-volatile storage medium, etc. The system memory stores, for example, an operating system, an application program, a boot loader (Boot Loader), a database, and other programs.

[0111] Figure 5 FIG. 2 shows a schematic diagram of a torque control device for a multi-rotation motor according to some other embodiments of the present disclosure. Figure 5 As shown, the device 50 of this embodiment includes: a memory 510 and a processor 520, which are similar to the memory 410 and the processor 420 respectively. It can also include an input and output interface 530, a network interface 540, a storage interface 550, etc. These interfaces 530, 540, 550 and the memory 510 and the processor 520 can be connected, for example, through a bus 560. Among them, the input and output interface 530 provides a connection interface for input and output devices such as a display, a mouse, a keyboard, and a touch screen. The network interface 540 provides a connection interface for various networked devices, for example, it can be connected to a database server or a cloud storage server. The storage interface 550 provides a connection interface for external storage devices such as SD cards and USB flash drives.

[0112] Figure 6 FIG. 2 shows a schematic diagram of a torque control system for a multi-rotation motor according to some embodiments of the present disclosure. Figure 6As shown, the control system of this embodiment includes: a rotary operation device 610, the rotary operation device 610 includes a rotary handle, which is configured to input opening information to the control module 620; the control module 620 is configured to execute the control method as described above. The control module 620 is the brain of the control system, and its main function is to parse the input instructions of the driver and convert them into torque or speed instructions of the rotary motor 660, and reasonably distribute them to multiple rotary motor controllers 650; the rotary motor locking mechanism 630 is configured to prohibit the rotary motor from driving according to the instructions of the control module 620, so as to lock the rotary motor when the rotary motor stops and prohibit it from rotating freely, so as to ensure that the rotary body is stationary; the power battery 640 is configured to provide electric energy to the rotary motor or store the electric energy recovered by the rotary motor; the rotary motor controller 650 is configured to control the working mode of the rotary motor. The rotary motor controller 650 communicates with the control module 620, and controls the rotary motor 660 to output the target speed or torque according to the instructions sent by the control module 620; the rotary motor 660; the reducer 670, which is configured to reduce speed and increase torque, that is, to increase the output torque of the rotary motor and reduce the output speed of the rotary motor; the rotating body 680.

[0113] The rotary motor 660, the speed reducer 670 and the rotary motor locking structure 630 can also be referred to as a rotary motor assembly, i.e., the power source of the rotary body of the vehicle. The rotary motor 660 mainly provides a driving torque when the rotary body 680 is driven to rotate or converts the kinetic energy of the rotary body into electrical energy when the rotation stops; the speed reducer 670 mainly functions to reduce speed and increase torque; the rotary motor locking mechanism 630 mainly functions to lock the rotary motor and prevent it from rotating freely.

[0114] In some embodiments, the locking mechanism 630 mainly locks the motor according to the locking instruction sent by the control module 620 when the rotary motor 660 is in a stopped state, prohibiting the motor from driving; when the rotary motor 660 is in a driving state, releases the motor according to the unlocking instruction sent by the control module 620, allowing the rotary motor to drive.

[0115] The rotary operation device 610 can be connected to the control module 620 through a hard line. The control module 620 can communicate with the rotary motor locking laser 630, the power battery 640, and the rotary motor controller 650 through CAN. The rotary motor controller 650 can be connected to the power battery 640 and the rotary motor 660 through high voltage. The rotary motor 660 can be mechanically connected to the rotary motor locking mechanism 630 and the reducer 670, and the reducer 670 can be mechanically connected to the rotary machine 680.

[0116] Figure 7 FIG. 2 shows a schematic diagram of the structure of a vehicle according to some embodiments of the present disclosure. Figure 7As shown, the vehicle 70 includes the torque control device for the multi-rotor electric machine as described above.

[0117] In some embodiments, a vehicle includes a torque control system for a multi-rotor electric machine as described above.

[0118] An embodiment of the present disclosure further provides a computer-readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements any of the aforementioned torque control methods for a multi-rotation motor.

[0119] An embodiment of the present disclosure further provides a computer program product, comprising instructions, which, when executed by a processor, enable the processor to perform any of the torque control methods for a multi-rotation electric machine described above.

[0120] Those skilled in the art will appreciate that the embodiments of the present disclosure may be provided as methods, systems, or computer program products. Therefore, the present disclosure may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present disclosure may take the form of a computer program product implemented on one or more computer-usable non-transient storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0121] The present disclosure is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present disclosure. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0122] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0123] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0124] The above are only preferred embodiments of the present disclosure and are not intended to limit the present disclosure. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A torque control method for a multi-rotation motor, comprising: Determining the required torque of the vehicle and the change gradient of the required torque according to the opening change information of the swing handle, wherein the vehicle includes a plurality of swing motors; Determining the distributed torque of each rotary motor and the change gradient of the distributed torque according to the required torque, the change gradient of the required torque, the actual torque of each rotary motor among the plurality of rotary motors, and the battery state; Each rotary motor is controlled to perform rotary driving according to the actual torque of each rotary motor, the distributed torque and the change gradient of the distributed torque.

2. The torque control method according to claim 1, wherein: The step of determining the distributed torque of each rotary motor and the gradient of the distributed torque according to the required torque, the gradient of the change of the required torque, the actual torque of each rotary motor among the plurality of rotary motors, and the battery state comprises: Determining the distributed torque of each rotary motor according to the required torque, the difference of the actual torques of the plurality of rotary motors, and the battery state; The change gradient of the distributed torque of each rotary motor is determined according to the change gradient of the required torque and the difference between the actual torque of each rotary motor and the distributed torque.

3. The torque control method according to claim 2, wherein: The step of determining the distributed torque of each rotary motor according to the required torque, the difference of the actual torques of the plurality of rotary motors, and the battery state comprises: determining whether the plurality of rotary motors can be driven for rotary operation according to the battery status; In a case where the plurality of rotary electric machines are capable of rotary driving, the distributed torque of each rotary electric machine is determined according to a difference between the required torque and actual torques of the plurality of rotary electric machines.

4. The torque control method according to claim 2, wherein: Determining the distributed torque of each rotary motor according to the required torque, the difference of the actual torques of the plurality of rotary motors, and the battery state comprises: The required torque, the difference between the actual torques of the plurality of rotary motors, and the battery state are input into a first fuzzy controller, and the distributed torques of the plurality of rotary motors output by the first fuzzy controller are obtained.

5. The torque control method according to claim 2, wherein: For each of the rotary electric machines, a difference between the distributed torque of the rotary electric machine and the real-time torque is positively correlated with a change gradient of the distributed torque of the rotary electric machine.

6. The torque control method according to claim 2, wherein: Determining the change gradient of the distributed torque of each rotary motor according to the change gradient of the required torque and the difference between the distributed torque of each rotary motor and the actual torque includes: Determining a range of a change gradient of the distributed torque of each rotary motor according to a change gradient of the required torque; According to the difference between the distributed torque of each rotary electric machine and the actual torque, a change gradient of the distributed torque of each rotary electric machine is determined from the range.

7. The torque control method according to claim 5, wherein: Determining the change gradient of the distributed torque of each rotary motor according to the change gradient of the required torque and the difference between the distributed torque of each rotary motor and the actual torque includes: The change gradient of the required torque, the difference between the distributed torque of each rotary motor and the actual torque are input into the second fuzzy controller to obtain the change gradient of the distributed torque of each rotary motor output by the second fuzzy controller.

8. The torque control method according to claim 1, wherein: The controlling each rotary motor to perform rotary driving according to the actual torque of each rotary motor, the distributed torque and the change gradient of the distributed torque comprises: When the actual torque of each rotary motor is greater than a first threshold, each rotary motor is controlled to be driven to rotate according to the distributed torque and the change gradient of the distributed torque.

9. The torque control method according to claim 1, wherein: The controlling each rotary motor to perform rotary driving according to the actual torque of each rotary motor, the distributed torque and the change gradient of the distributed torque comprises: When the actual torque of any one of the plurality of rotary motors is less than a first threshold, it is determined whether to control the plurality of rotary motors to perform rotary driving according to the distributed torque of each rotary motor and a change gradient of the distributed torque.

10. The torque control method according to claim 9, wherein: The determining whether to control the plurality of rotary motors to perform rotary driving according to the distributed torque of each rotary motor and the change gradient of the distributed torque comprises: When the distributed torque of each rotary electric machine is not greater than the second threshold value and / or the change gradient of the distributed torque is not greater than the third threshold value, it is determined that each rotary electric machine is prohibited from performing rotary driving.

11. The torque control method according to claim 9, wherein: The determining whether to control the plurality of rotary motors to perform rotary driving according to the distributed torque of each rotary motor and the change gradient of the distributed torque comprises: When the allocated torque of each rotating motor is greater than the second threshold, the change gradient of the allocated torque is greater than the third threshold, and the duration that the actual torque is less than the first threshold does not exceed the fourth threshold, it is determined to control each rotating motor to be driven in rotation according to the allocated torque and the change gradient of the allocated torque.

12. The torque control method according to claim 9, wherein: The determining whether to control the plurality of rotary motors to perform rotary driving according to the distributed torque of each rotary motor and the change gradient of the distributed torque comprises: When the allocated torque of each rotary motor is greater than the second threshold, the change gradient of the allocated torque is greater than the third threshold, and the duration of the actual torque being less than the first threshold exceeds a fourth threshold, it is determined that each rotary motor is prohibited from performing rotary driving.

13. The torque control method according to any one of claims 1 to 12, wherein: The handle opening change information includes a change value of the handle opening and a change rate of the handle opening.

14. The torque control method according to any one of claims 1 to 12, wherein: The vehicle comprises two rotary electric machines.

15. A torque control device for a multi-rotation motor, comprising: A first determination module is configured to determine a required torque of the vehicle and a change gradient of the required torque according to the opening change information of the swing handle, wherein the vehicle includes a plurality of swing motors; a second determination module configured to determine the distributed torque of each rotary motor and the change gradient of the distributed torque according to the required torque, the change gradient of the required torque, the actual torque of each rotary motor of the plurality of rotary motors, and a battery state; The control module is configured to control each rotary motor to perform rotary driving based on the actual torque of each rotary motor, the distributed torque and the change gradient of the distributed torque.

16. A torque control device for a multi-rotation motor, comprising: processor; as well as A memory coupled to the processor is used to store instructions, and when the instructions are executed by the processor, the processor executes the control method of the rotary electric machine of the vehicle according to any one of claims 1 to 14.

17. A vehicle comprising: A torque control device for a multi-rotation motor as claimed in claim 15 or 16.

18. A computer-readable storage medium having computer instructions stored thereon, wherein: When the program is executed by a processor, the torque control method of the multi-rotation electric machine according to any one of claims 1 to 14 is implemented.

19. A computer program product comprising instructions, which, when executed by a processor, cause the processor to perform the torque control method for a multi-rotation electric machine according to any one of claims 1 to 14.

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