Dual-motor control method and system and vehicle

Abstract

The invention provides a double-motor control method and system and a vehicle, based on the synergistic effect of the double motors, the double motors jointly output torque needed by the vehicle, and each motor is independently controlled through one MCU. In actual control, the torque output of the two motors is determined through the torque distribution ratio of the first MCU and the second MCU. The vehicle comprises two motors, and when one motor is damaged, the other motor can still output torque. Besides, one MCU is connected with the two motors, when one MCU breaks down, the other MCU takes over the control right of the double motors, and the double motors are controlled to output torque through the torque distribution ratio. Through the arrangement of the dual-motor system provided by the application, the occurrence of the phenomenon that the vehicle lies down when the motor fault or the MCU fault occurs can be prevented, and the driving safety is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and in particular to a dual-motor control method, system and vehicle. Background Art

[0002] With the rapid development of new energy vehicles, people's demands for the comfort, drivability and safety of vehicles are growing. As the power execution system of the vehicle, the electric drive system is closely related to the safety of the driver and other road users.

[0003] Most of the current electric vehicles (especially electric heavy trucks) are driven by a low-speed, high-torque motor. When the motor or motor controller fails, the vehicle may break down while driving, causing traffic jams at the least and endangering the lives of the driver and other passengers at the worst.

[0004] Therefore, how to ensure the safety of the vehicle when the motor or motor controller fails is an urgent problem to be solved. Summary of the invention

[0005] The dual-motor control method, system and vehicle provided in the present application are used to improve the safety of the vehicle when a motor or a motor controller fails.

[0006] In a first aspect, the present application provides a dual-motor control method, which is applied to a dual-motor control system, wherein the dual-motor control system includes a vehicle control unit VCU, a torque control unit TCU, a first motor, a second motor, a first MCU, and a second MCU, wherein the first MCU is connected to the first motor and the second motor respectively, and the second MCU is connected to the first motor and the second motor respectively, and the method includes:

[0007] The TCU receives the target torque value sent by the VCU, and obtains the torque distribution ratio of the first MCU and the second MCU;

[0008] The TCU determines a first torque distribution value of the first MCU and a second torque distribution value of the second MCU according to the torque distribution ratio and the target torque value;

[0009] The TCU sends the target torque value and the first torque distribution value to the first MCU, and sends the target torque value and the second torque distribution value to the second MCU;

[0010] The first MCU performs verification according to the target torque value and the first torque distribution value, and after successful verification, controls the torque output of the first motor according to the first torque distribution value;

[0011] The second MCU performs verification according to the target torque value and the second torque distribution value, and after successful verification, controls the torque output of the second motor according to the second torque distribution value.

[0012] Optionally, the first MCU performs verification according to the target torque value and the first torque distribution value, including:

[0013] The first MCU obtains the torque distribution ratio;

[0014] The first MCU determines a first verification torque value according to the torque distribution ratio and the first torque distribution value;

[0015] If the error between the first verification torque value and the target torque value exceeds a preset range, the verification fails.

[0016] Optionally, if the error between the first verification torque value and the target torque value is within a preset range, the method further includes:

[0017] The first MCU obtains the output three-phase power control signal;

[0018] The first MCU determines a second verification torque value according to the three-phase electrical control signal and the torque distribution ratio;

[0019] If the error between the second verification torque value and the target torque value exceeds a preset range, the verification fails; otherwise, the verification succeeds.

[0020] Optionally, if the verification fails, the method further includes:

[0021] The first MCU obtains a degraded torque distribution ratio;

[0022] The first MCU determines a first torque distribution value after degradation according to the degradation torque distribution ratio, wherein the first torque distribution value after degradation is less than the first torque distribution value;

[0023] The first MCU controls the torque output of the first motor according to the degraded first torque distribution value.

[0024] Optionally, the method further includes:

[0025] The first MCU obtains the number of consecutive verification failures;

[0026] If the number of consecutive verification failures is greater than a preset number, the first MCU stops the torque control of the first motor;

[0027] The second MCU controls the second motor according to the target torque value.

[0028] Optionally, the dual-motor control system further includes a first power management chip and a second power management chip, the first power management chip is connected to the first MCU, the second power management chip is connected to the second MCU, and the first power management chip is connected to the second power management chip;

[0029] Accordingly, before the second MCU controls the second motor according to the target torque value, the method further includes:

[0030] The first power management chip obtains the verification failure status of the first MCU through regular questioning, and the verification failure status is used to indicate that the number of consecutive verification failures of the first MCU is greater than a preset number;

[0031] The first power management chip sends the verification failure status to the second power management chip;

[0032] The second power management chip sends the verification failure status to the second MCU.

[0033] Optionally, the first MCU is connected to the second MCU, and before the second MCU controls the second motor according to the target torque value, the method further includes:

[0034] The first MCU sends a verification failure status to the second MCU, where the verification failure status is used to indicate that the number of consecutive verification failures of the first MCU is greater than a preset number.

[0035] Optionally, the method further includes:

[0036] The first MCU obtains status information of the first motor;

[0037] If the status information of the first motor indicates that the first motor is abnormal, the first MCU sends a downgrade message to the second MCU, where the downgrade message is used to instruct the first MCU to stop controlling the first motor.

[0038] In a second aspect, the present application provides a dual-motor control system, the dual-motor control system comprising: a vehicle control unit VCU, a torque control unit TCU, a first motor, a second motor, a first MCU, a second MCU, the first MCU is connected to the first motor and the second motor respectively, and the second MCU is connected to the first motor and the second motor respectively;

[0039] The dual-motor control system is used to execute the method as described in any one of the first aspects.

[0040] In a third aspect, the present application provides a vehicle, comprising a dual-motor control system as described in the second aspect.

[0041] In a fourth aspect, the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the above first aspect and / or various possible implementations of the first aspect.

[0042] In a fifth aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementations of the first aspect.

[0043] The present application provides a dual-motor control method, system and vehicle, which jointly output the torque required by the vehicle through the synergy of the dual motors, wherein each motor is individually controlled by an MCU. On the one hand, when one motor is damaged, the other motor can still output torque. On the other hand, an MCU is connected to the two motors respectively, and when one MCU is damaged, the other MCU can also control the output of the dual motors. By setting up a dual-motor system, the occurrence of vehicle stalling can be prevented, improving driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0045] Figure 1 A schematic diagram of the structure of the dual-motor control system provided in this application;

[0046] Figure 2 Schematic diagram of the dual motor control method provided in this application Figure 1 ;

[0047] Figure 3 Schematic diagram of the dual motor control method provided in this application Figure 2 ;

[0048] Figure 4 Schematic diagram of the dual motor control method provided in this application Figure 3 ;

[0049] Figure 5 A schematic diagram of the structure of the electronic device provided in this application.

[0050] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0051] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0052] In the current electric heavy-duty truck industry, most of them use a low-speed, high-torque motor for driving. When the motor or motor controller fails, the vehicle may break down on the spot, causing traffic congestion at the least and endangering the lives of the driver and other passengers at the worst. Therefore, a single-function MCU cannot meet the safety requirements of future heavy-duty trucks.

[0053] In view of this, the present application proposes a dual-motor control system, which uses two motors to replace the traditional single motor, and uses two MCU chips to control the two motors, each MCU is connected to the two motors. When the torque command of the vehicle controller is received, the dual motors are driven, and the two motors work together to output the corresponding torque. Through this setting, on the one hand, when the controller detects that one of the motors has a fault, the other motor can still work to prevent the vehicle from breaking down; on the other hand, when one of the MCUs is detected to have a fault, the other MCU controls the two motors to ensure the stability of the control and affect the safety of the road and personnel.

[0054] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0055] Figure 1 The schematic diagram of the dual motor control system provided in this application is as follows: Figure 1 As shown, it includes a vehicle control unit VCU, a torque control unit TCU, a first motor (TM1), a second motor (TM2), a first MCU (MCU1), and a second MCU (MCU2).

[0056] MCU1 is connected to TM1 and TM2 respectively, and MCU2 is connected to TM1 and TM2 respectively.

[0057] VCU is connected to TCU. VCU is the upper control unit, which is responsible for generating torque commands according to the vehicle's operating status and driving requirements, and transmitting the torque signal to TCU. TCU calculates the torque ratio assigned to the two MCUs based on the torque signal from VCU, and transmits this information to MCU1 and MCU2. VCU and TCU can communicate through CAN bus (Controller Area Network), SPI or Ethernet, depending on the bandwidth requirements and communication protocol of the system design.

[0058] TCU is connected to MCU1 and MCU2 respectively. After receiving the torque signal transmitted by VCU, TCU distributes the torque signal to two MCUs according to the torque distribution ratio. After receiving the distributed torque signal, MCU verifies it and outputs a three-phase electric control signal based on the verification result to control the motor. The communication between TCU and MCU can use CAN bus or SPI.

[0059] Each MCU is responsible for receiving the torque signal, calculating the appropriate current control signal, and generating a PWM control signal to drive the motor inverter, thereby controlling the motor's speed and torque output. Under normal circumstances, MCU1 controls TM1 and MCU2 controls TM2. When MCU1 is damaged, MCU2 controls TM1 and TM2. When MCU2 is damaged, MCU1 controls TM1 and TM2. Each MCU also monitors the working status of the corresponding motor, such as bus voltage, current, and temperature, to ensure that the motor works normally according to the set torque.

[0060] Each MCU controls the inverter of the corresponding motor through its IO port and provides a three-phase current signal to each phase of the motor.

[0061] Optionally, the dual motor control system also includes a power management chip (Power Management IC, referred to as PMIC), which also includes a first power management chip PMIC1 and a second power management chip PMIC2. PMIC1 is responsible for power management of MCU1, including program flow monitoring, memory monitoring and power supply monitoring. PMIC1 communicates with MCU1 regularly through the SPI interface to ensure the correct operation of MCU1. When MCU1 fails, PMIC1 can trigger a fault protection mechanism to assist the system in downgrading. Similarly, PMIC2 and MCU2 also have the same functional settings.

[0062] PMIC1 and PMIC2 communicate with each other via an SPI bus or an I2C bus, and periodically exchange status information of each other or status information of the corresponding MCU to monitor the two MCUs.

[0063] The above dual-motor system includes a three-layer monitoring architecture. The first layer, the function implementation layer receives signals from the VCU and the whole vehicle to implement basic control functions, such as electronic control status management, electronic control signal processing, motor control, etc. The second layer, the function monitoring layer monitors the program flow and RAM to implement basic torque demand monitoring, torque output monitoring, current monitoring, high-voltage monitoring, etc. The third layer, two ASIL-D level power management chips monitor the operating status of the two MCUs. The two MCUs need to regularly ask and answer questions to the power management chip, otherwise it is considered that the MCU has failed, and the other MCU takes over its control to control the dual motors, so that the whole vehicle can enter a safe driving mode.

[0064] The dual motor control system provided in this embodiment adopts an independent MCU to control one motor respectively. The two MCUs monitor each other. When a control error occurs in one chip, the other chip can control the dual motors through an interrupt. At the same time, the two power management chips perform question and answer checks and RAM checks on the two control chips to ensure the correctness of the program operation of the two control chips.

[0065] Based on the above dual motor control system, the following introduces how the MCU controls the motor with a specific method implementation example.

[0066] Figure 2 Schematic diagram of the dual motor control method provided in this application Figure 1 ,like Figure 2 As shown, the method comprises the following steps:

[0067] S101. The TCU receives a target torque value sent by the VCU, and obtains a torque distribution ratio between the first MCU and the second MCU.

[0068] In this step, the VCU sends a target torque value to the TCU, which indicates the total torque that the vehicle needs to output. This torque value is usually determined by the vehicle's driving state (such as acceleration, deceleration, steering, etc.).

[0069] The TCU also needs to obtain the torque distribution ratio of the first MCU and the second MCU. The torque distribution ratio determines the distribution of the total torque between the two motors.

[0070] In one implementation, the torque distribution ratio is a pre-set fixed ratio stored in the TCU, such as 5:5, 4:6, or 3:7. The fixed ratio is set to the ratio of the output power of the two motors. If the output power is the same, it is set to 5:5. If the torque distribution ratio is fixed, the torque distribution ratio is also pre-stored in the MCU.

[0071] In another implementation, the torque distribution ratio is dynamically changed. The working status of the motor (such as speed, temperature, efficiency, etc.) and the load capacity of the motor are monitored in real time to adjust the torque output ratio of each motor. For example, if the temperature of motor 1 is high, the output torque of motor 1 can be reduced and more torque can be distributed to motor 2.

[0072] In another implementation, the torque distribution ratio is dynamically changed. For example, a motor may be more efficient within a specific speed range, so the torque distribution ratio of the motor with high efficiency can be increased at this speed to improve resource utilization.

[0073] In another implementation, the torque distribution ratio is dynamically adjusted according to the abnormality of the motor. For example, after the motor is turned on, if a motor has an abnormality, the partial torque distribution ratio of the motor is reduced each time the abnormality occurs. This prevents the situation where the power is suddenly changed due to frequent abnormalities of a motor.

[0074] S102 : The TCU determines a first torque distribution value of the first MCU and a second torque distribution value of the second MCU according to the torque distribution ratio and the target torque value.

[0075] After receiving the target torque value and torque distribution ratio, the TCU calculates the specific torque value that each MCU needs to execute.

[0076] Assuming the target torque is 100 Nm, the allocation ratio of the first MCU is 60%, and the allocation ratio of the second MCU is 40%. Then, the torque allocation value of the first MCU is 100 Nm*60%=60 Nm, and the torque allocation value of the second MCU is 100 Nm*40%=40 Nm.

[0077] The calculated value and target torque value of the TCU will be transmitted to the first MCU and the second MCU as the next output control signal.

[0078] S103 : The TCU sends the target torque value and the first torque distribution value to the first MCU, and sends the target torque value and the second torque distribution value to the second MCU.

[0079] The first torque distribution value is the torque amount that the first MCU needs to control based on the distribution ratio, and the second torque distribution value is the torque amount that the second MCU needs to control based on the distribution ratio. The target torque value is used for verification by the MCU.

[0080] S104: The first MCU performs verification according to the target torque value and the first torque distribution value. After the verification is successful, the first MCU controls the torque output of the first motor according to the first torque distribution value.

[0081] During the inspection, it is first possible to check whether the data transmission complies with the predetermined specification, for example, whether the check bit is correct. Then, based on the first torque distribution value divided by the torque distribution ratio of the first MCU, a verification torque value is obtained, and the verification torque is compared with the target torque value. If the error is within the preset range, it means that the inspection is passed.

[0082] Exemplarily, the received first torque distribution value of 60 Nm is divided by the torque distribution ratio of 0.6 to obtain a verification torque value of 100 Nm, which is the same as the target torque value, and the verification passes.

[0083] By setting the check bit, it is possible to detect whether there is a bit error or data loss during data transmission. For example, in the CAN bus or other communication protocols, the check bit can be used to check whether a bit error (such as signal interference, data loss, etc.) occurs during the transmission process.

[0084] This verification can further avoid transmission errors during data transmission and TCU calculation errors, thereby improving data accuracy and consistency.

[0085] If the verification is passed, it means that there is no problem with the data transmission. The first MCU controls the torque output of the first motor according to the assigned value (for example, 60Nm). The first MCU calculates the three-phase current based on the value and outputs the corresponding PWM control signal to control the motor driver (inverter) to output the appropriate current and adjust the motor torque.

[0086] S105 , the second MCU performs verification according to the target torque value and the second torque distribution value, and after the verification is successful, controls the torque output of the second motor according to the second torque distribution value.

[0087] The second MCU has the same execution logic as the first MCU.

[0088] This embodiment provides a dual-motor control method, which includes: TCU receives the target torque value sent by VCU, and obtains the torque distribution ratio of the first MCU and the second MCU; TCU determines the first torque distribution value of the first MCU and the second torque distribution value of the second MCU according to the torque distribution ratio and the target torque value; TCU sends the target torque value and the first torque distribution value to the first MCU, and sends the target torque value and the second torque distribution value to the second MCU; the first MCU verifies according to the target torque value and the first torque distribution value, and after the verification is successful, controls the torque output of the first motor according to the first torque distribution value; the second MCU verifies according to the target torque value and the second torque distribution value, and after the verification is successful, controls the torque output of the second motor according to the second torque distribution value. In this way, through the synergy of the dual motors, the torque required by the vehicle is jointly output, wherein each motor is controlled separately by the MCU, so that when one motor is damaged, the other motor can still output torque, prevent the occurrence of vehicle stalling, and improve driving safety.

[0089] The above embodiment introduces the control method of the dual motors under normal circumstances. The following embodiment introduces the processing method when the MCU verification fails.

[0090] Figure 3 Schematic diagram of the dual motor control method provided in this application Figure 2 ,exist Figure 3 The execution subject not specifically stated in the above is the first MCU as the execution subject, such as Figure 3 As shown, the method comprises the following steps:

[0091] S201: Obtain torque distribution ratio.

[0092] In one implementation, the torque distribution ratio is pre-stored in the first MCU, and the MCU can directly obtain it.

[0093] In another implementation, if the torque distribution ratio is dynamic, the VCU can be responsible for determining the torque distribution ratio according to the actual operating conditions of the two motors (in the above embodiments, various dynamic torque distribution ratios are described, and any of the above methods can be used). The VCU sends the dynamic torque distribution ratio to the TCU and the MCU.

[0094] S202: Determine a first verification torque value according to the torque distribution ratio and the first torque distribution value.

[0095] The first MCU divides the received first torque distribution value by the torque distribution ratio to obtain a first verification torque value.

[0096] S203: Determine whether verification fails.

[0097] If the error between the first verification torque value and the target torque value exceeds the preset range, the verification fails and step S204 is executed.

[0098] If the error between the first verification torque value and the target torque value exceeds the preset range, the verification is successful, and step S210 is executed.

[0099] S204: Obtain the number of consecutive verification failures.

[0100] S205: Determine whether the number of consecutive verification failures is greater than a preset number.

[0101] If the number of consecutive verification failures is greater than the preset number, it indicates that the calculation is wrong, and step S206 is executed. The preset number can be set to 3 times, 5 times, or 10 times.

[0102] If the number of consecutive verification failures is less than or equal to the preset number, it means that this is an occasional error, which may be a data transmission error caused by electromagnetic instability, etc. The first MCU is downgraded and step S207 is executed.

[0103] S206 , stopping the first MCU from controlling the torque of the first motor, and the second MCU controls the second motor according to the target torque value.

[0104] In this step, the stop torque control function of the first MCU is completely controlled by the second MCU. The second MCU side also has the torque distribution ratio and target torque value of the two motors. Therefore, the second MCU can also control the dual motors, respectively control the three-phase electrical signals of the two motors, so that the two motors output corresponding torques respectively.

[0105] S207: Obtain the downgrade torque distribution ratio.

[0106] In one implementation, when the torque distribution ratio is a fixed value, the degraded torque ratio is also a fixed value, which is less than the torque distribution ratio. For example, the first MCU distributes 50% of the torque, and because of a single check error, the degraded torque distribution becomes 40%. After the second check error, the torque distribution can be further reduced by 10%, or the 40% torque distribution can be maintained.

[0107] In another implementation, the torque distribution ratio is dynamic, and the torque distribution ratio after degradation is obtained by multiplying the acquired dynamic torque distribution ratio by the degradation ratio, wherein the degradation ratio is less than 1, and exemplary degradation ratios are 80%, 70%, 60%, 30%, etc. The degradation ratio can reduce the torque output of the faulty motor to avoid uncontrolled phenomena such as unexpected torque mutations that may cause safety hazards.

[0108] After the torque of the first MCU side is downgraded, the torque distribution ratio initially allocated to the second MCU side may remain unchanged, that is, the downgrade of the first MCU side does not affect the calculation of the second MCU side. The torque distribution ratio of the second MCU side may also be variable, that is, the torque distribution ratio of the first MCU side is reduced from 50% to 40%, and the torque distribution ratio of the second MCU side is increased from 50% to 60%.

[0109] S208: Determine a first torque distribution value after degrading according to the degraded torque distribution ratio.

[0110] The downgraded first torque distribution value may be obtained by multiplying the target torque value by the downgraded torque distribution ratio.

[0111] S209 , controlling the torque output of the first motor according to the degraded first torque distribution value.

[0112] In this step, the first MCU calculates the required three-phase current according to the torque allocated to it and the control algorithm of the first motor (such as FOC), and finally generates a PWM signal to control the output of the three-phase current through the inverter to drive the first motor to generate the required torque.

[0113] S210 . Control the torque output of the first motor according to the first torque distribution value.

[0114] This embodiment provides a dual-motor control method that can perform downgrade processing when an error occurs in the MCU control link, execute relatively low driving torque, avoid vehicle damage due to torque calculation errors, and prevent torque abnormalities caused by torque mutations.

[0115] The above embodiment introduces the processing logic of the first MCU. Similarly, the second MCU can also execute similar processing logic, which will not be described in detail here.

[0116] The above embodiment introduces a verification method to verify the correctness of data calculation. On this basis, a secondary verification can be introduced to verify whether the three-phase electrical signal controlling the first motor can generate the required torque.

[0117] The following is an introduction to the dual-motor control method using a complete example.

[0118] Figure 4 Schematic diagram of the dual motor control method provided in this application Figure 3 ,like Figure 4 As shown, the first motor and the second motor are identical, and therefore, the default fixed torque distribution ratio is 50%:50%.

[0119] The VCU sends a torque command to the TCU, and the TCU performs torque distribution. The first MCU and the second MCU perform a check respectively, and the content of the check is to calculate whether the check torque value obtained by dividing the received torque distribution value by the torque distribution ratio is within the 2% error of the target torque value.

[0120] If it is within the 2% error, degraded measures are implemented and the output control is calculated and output at 40% of the initial torque distribution ratio.

[0121] If there is no error this time, continue to determine whether the error exceeds 2% for three consecutive times. If so, another MCU will perform torque output control until the MCU returns to normal. If not, calculate and output three-phase electrical signals.

[0122] The MCU obtains the three-phase electrical signal in the circuit (for example, through the current sensor), queries the corresponding torque according to the obtained three-phase electrical signal, and uses the queried torque divided by the torque distribution ratio to obtain the second verification torque value. Determine whether the deviation between the second verification torque value and the target torque value exceeds 2%. If it exceeds 2%, the degradation measures are executed, and the calculation and output control are performed at 40% of the initial torque distribution ratio. If it does not exceed 2%, it is determined whether the error exceeds 2% for three consecutive times. If so, another MCU performs torque control until the MCU returns to normal.

[0123] When controlled by another MCU, it can output torque according to the target torque value and a torque distribution ratio of 100%.

[0124] When there is no fault, the two MCUs independently control the two motors. When one of the MCUs fails, the other MCU controls the two motors until the faulty MCU returns to normal, avoiding the vehicle from breaking down and being unable to start due to occasional faults and improving product availability.

[0125] The above example provides a dual-motor control method that meets functional safety design. In response to the control torque command from the VCU, the MCU verifies the input signal and the output signal and monitors them to ensure that the error between the output torque and the torque from the VCU is within 2%. At the same time, if the chip has a program calculation error, it can accurately and quickly execute a reasonable safety state to ensure that there will be no unacceptable safety risks.

[0126] When the first MCU fails to verify three times in a row, it needs to notify the second MCU, and the first MCU sends a verification failure status to the second MCU, and the verification failure status is used to indicate that the number of consecutive verification failures of the first MCU is greater than a preset number. This communication link can be directly transmitted through the communication channel between the first MCU and the second MCU. When the communication link cannot be transmitted, it can be transmitted through the link between the power management chip of the first MCU and the power management chip of the second MCU.

[0127] When an MCU has an abnormality, such as abnormally high temperature, the accuracy of its calculation or control output will decrease. At this time, the power management chip of the corresponding MCU will record its abnormal status and send a downgrade message to another MCU. The downgrade message is used to instruct the MCU to stop controlling the corresponding motor, and the other MCU performs dual motor control.

[0128] It should be noted that the first and second involved in the present application are only for distinguishing two MCUs or two motors and are not particularly limited.

[0129] Figure 5 This is a schematic diagram of the structure of the electronic device provided in this application. The electronic device can be a vehicle controller, an MCU, or a TCU. Figure 5 As shown, the electronic device 50 provided in this embodiment includes: at least one processor 501 and a memory 502. Optionally, the device 50 also includes a communication component 503. The processor 501, the memory 502 and the communication component 503 are connected via a bus 504.

[0130] In a specific implementation process, at least one processor 501 executes the computer-executable instructions stored in the memory 502, so that at least one processor 501 executes the above method.

[0131] The specific implementation process of the processor 501 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0132] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the invention may be directly implemented as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0133] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (Non-volatile Memory, NVM), such as at least one disk memory.

[0134] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0135] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0136] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0137] The present application also provides a vehicle, which includes the dual-motor system as described above, and the dual-motor system is used to implement the above method.

[0138] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0139] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0140] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0141] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0142] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0143] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0144] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0145] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A dual motor control method, characterized in that: Applied to a dual-motor control system, the dual-motor control system includes a vehicle control unit VCU, a torque control unit TCU, a first motor, a second motor, a first MCU, a second MCU, the first MCU is connected to the first motor and the second motor respectively, the second MCU is connected to the first motor and the second motor respectively, the method includes: The TCU receives the target torque value sent by the VCU, and obtains the torque distribution ratio of the first MCU and the second MCU; The TCU determines a first torque distribution value of the first MCU and a second torque distribution value of the second MCU according to the torque distribution ratio and the target torque value; The TCU sends the target torque value and the first torque distribution value to the first MCU, and sends the target torque value and the second torque distribution value to the second MCU; The first MCU performs verification according to the target torque value and the first torque distribution value, and after successful verification, controls the torque output of the first motor according to the first torque distribution value; The second MCU performs verification according to the target torque value and the second torque distribution value, and after successful verification, controls the torque output of the second motor according to the second torque distribution value.

2. The method according to claim 1, characterized in that The first MCU performs verification according to the target torque value and the first torque distribution value, including: The first MCU obtains the torque distribution ratio; The first MCU determines a first verification torque value according to the torque distribution ratio and the first torque distribution value; If the error between the first verification torque value and the target torque value exceeds a preset range, the verification fails.

3. The method according to claim 2, characterized in that If the error between the first verification torque value and the target torque value is within a preset range, the method further includes: The first MCU obtains the output three-phase power control signal; The first MCU determines a second verification torque value according to the three-phase electrical control signal and the torque distribution ratio; If the error between the second verification torque value and the target torque value exceeds a preset range, the verification fails; otherwise, the verification succeeds.

4. The method according to claim 2 or 3, characterized in that: If the verification fails, the method further comprises: The first MCU obtains a degraded torque distribution ratio; The first MCU determines a first torque distribution value after degradation according to the degradation torque distribution ratio, wherein the first torque distribution value after degradation is less than the first torque distribution value; The first MCU controls the torque output of the first motor according to the degraded first torque distribution value.

5. The method according to claim 4, characterized in that The method further comprises: The first MCU obtains the number of consecutive verification failures; If the number of consecutive verification failures is greater than a preset number, the first MCU stops the torque control of the first motor; The second MCU controls the second motor according to the target torque value.

6. The method according to claim 5, characterized in that The dual-motor control system further includes a first power management chip and a second power management chip, the first power management chip is connected to the first MCU, the second power management chip is connected to the second MCU, and the first power management chip is connected to the second power management chip; Accordingly, before the second MCU controls the second motor according to the target torque value, the method further includes: The first power management chip obtains the verification failure status of the first MCU through regular questioning, and the verification failure status is used to indicate that the number of consecutive verification failures of the first MCU is greater than a preset number; The first power management chip sends the verification failure status to the second power management chip; The second power management chip sends the verification failure status to the second MCU.

7. The method according to claim 5, characterized in that The first MCU is connected to the second MCU, and before the second MCU controls the second motor according to the target torque value, the method further includes: The first MCU sends a verification failure status to the second MCU, where the verification failure status is used to indicate that the number of consecutive verification failures of the first MCU is greater than a preset number.

8. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: The first MCU obtains status information of the first motor; If the status information of the first motor indicates that the first motor is abnormal, the first MCU sends a downgrade message to the second MCU, where the downgrade message is used to instruct the first MCU to stop controlling the first motor.

9. A dual motor control system, characterized in that: The dual-motor control system includes: a vehicle control unit VCU, a torque control unit TCU, a first motor, a second motor, a first MCU, a second MCU, the first MCU is connected to the first motor and the second motor respectively, and the second MCU is connected to the first motor and the second motor respectively; The dual-motor control system is used to execute the method according to any one of claims 1-8.

10. A vehicle, characterized in that: The vehicle includes the dual-motor control system of claim 9 .

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