Dual-motor control method, system, and vehicle

Abstract

The present application provides a dual-motor control method, system and vehicle. Based on the synergistic effect of the dual motors, the dual motors jointly output the torque required by the vehicle, wherein each motor is individually controlled by an MCU. In actual control, the torque output of the two motors is determined by the torque distribution ratio of the first MCU and the second MCU. The vehicle includes two motors. When one motor is damaged, the other motor can still output torque. In addition, an MCU is connected to the two motors respectively. When one MCU fails, the other MCU takes over the control of the dual motors and controls the dual motors to output torque through the torque distribution ratio. The setting of the dual-motor system provided by the present application can prevent the occurrence of vehicle grounding when the motor fails or the MCU fails, thereby improving driving safety.

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 demand for vehicle comfort, drivability, and safety continues to grow. As the vehicle's power execution system, the electric drive system is closely related to the safety of the driver and other road users.

[0003] Most current electric vehicles (especially heavy-duty electric trucks) are driven by a low-speed, high-torque motor. Failure of the motor or motor controller may cause the vehicle to stall while driving, causing traffic jams at best and endangering the lives of the driver and other passengers at 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 this application are used to improve the safety of the vehicle when a motor or 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. 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. 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 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 verifies the target torque value and the first torque distribution value, and controls the torque output of the first motor according to the first torque distribution value after the verification is successful;

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

[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 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 a verification failure status of the first MCU through a periodic question and answer, where the verification failure status indicates that the first MCU has failed verification more than a preset number of times in a row;

[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, before the first MCU and the second MCU are connected and 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 demotion message to the second MCU, where the demotion 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, comprising: 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;

[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 the 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, comprising 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. The setting of the dual-motor system can prevent the occurrence of vehicle stalling and improve 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 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 This is a schematic diagram of the structure of the electronic device provided in this application.

[0050] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0051] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0052] Currently, most electric heavy-duty trucks are driven by a single, low-speed, high-torque motor. If the motor or motor controller fails, the vehicle could stall, potentially causing traffic congestion or even life-threatening consequences for the driver and other passengers. Therefore, single-function MCUs 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, with each MCU connected to the two motors. Upon receiving the torque command from the vehicle controller, 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 failed, 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 failed, the other MCU controls the two motors to ensure the stability of the control, affecting the safety of the road and personnel.

[0054] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. 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] The VCU is connected to the TCU. The VCU is the upper-level control unit, responsible for generating torque commands based on the vehicle's operating status and driving requirements, and transmitting the torque signal to the TCU. The TCU, based on the torque signal from the VCU, calculates the torque ratio allocated to the two MCUs and transmits this information to MCU1 and MCU2. Communication between the VCU and TCU can be via the Controller Area Network (CAN) bus, SPI, or Ethernet, depending on the bandwidth requirements and communication protocol of the system design.

[0058] The TCU is connected to MCU1 and MCU2. After receiving the torque signal from the VCU, the TCU distributes it to the two MCUs based on the torque distribution ratio. The MCUs verify the distributed torque signals and, based on the verification results, output three-phase electrical control signals to control the motors. Communication between the TCU and MCUs can use the 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's inverter, thereby controlling the motor's speed and torque output. Under normal circumstances, MCU1 controls TM1, and MCU2 controls TM2. If MCU1 fails, MCU2 controls both TM1 and TM2. If MCU2 fails, MCU1 controls both TM1 and TM2. Each MCU also monitors the operating status of the corresponding motor, such as bus voltage, current, and temperature, to ensure the motor operates normally according to the set torque.

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

[0061] Optionally, the dual-motor control system also includes a power management IC (PMIC), which 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 via the SPI interface to ensure the correct operation of MCU1. When MCU1 fails, PMIC1 can trigger a fault protection mechanism to assist in system degradation. Similarly, PMIC2 and MCU2 have the same functional settings.

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

[0063] The dual-motor system described above includes a three-layer monitoring architecture. The first layer, the function implementation layer, receives signals from the VCU and the vehicle, implementing basic control functions such as electronic control status management, electronic control signal processing, and motor control. The second layer, the function monitoring layer, monitors program flow and RAM, implementing basic torque demand monitoring, torque output monitoring, current monitoring, and high-voltage monitoring. The third layer, two ASIL-D-rated power management chips monitor the operating status of the two MCUs. The two MCUs are required to regularly query and answer the power management chip. If the MCU fails, it is considered to have failed, and the other MCU takes over control of the dual motors, allowing the vehicle to enter a safe driving mode.

[0064] The dual-motor control system provided in this embodiment utilizes an independent MCU to control each motor. The two MCUs monitor each other. If a control error occurs on one chip, the other chip can interrupt and take over control of both motors. Simultaneously, the two power management chips perform Q&A checks and RAM checks on the two control chips to ensure program execution accuracy.

[0065] Based on the above dual-motor control system, the following describes how the MCU controls the motors using a specific method embodiment.

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

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

[0068] In this step, the VCU sends the target torque value to the TCU. The target torque value represents the total torque required by the vehicle. 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 split ratio is a pre-set fixed ratio stored in the TCU, such as 5:5, 4:6, or 3:7. This fixed ratio corresponds to the output power ratio of the two motors; if the output powers are the same, the ratio is set to 5:5. If the torque split ratio is fixed, the MCU also pre-stores the torque split ratio.

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

[0072] In another implementation, the torque split ratio is dynamically changed. For example, a motor may be more efficient within a specific speed range. Therefore, the torque split ratio of the more efficient motor can be increased within that speed range to improve resource utilization.

[0073] In another implementation, the torque distribution ratio is dynamically adjusted based on motor anomalies. For example, if a motor anomaly occurs after the motors are turned on, the torque distribution ratio of that motor is reduced each time the anomaly occurs. This prevents sudden power fluctuations caused by frequent anomalies of a motor.

[0074] S102 : The TCU determines a first torque distribution value for the first MCU and a second torque distribution value for 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 control signal to be output next.

[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 by the MCU for verification.

[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, the data transmission can first be verified to ensure compliance with predetermined specifications, such as whether the check digit is correct. Then, the first torque distribution value is divided by the torque distribution ratio of the first MCU to obtain a verification torque value. The verification torque is then compared with the target torque value. If the error is within a preset range, the verification is considered 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. If this is the same as the target torque value, the verification passes.

[0083] The parity bit can be used to detect bit errors or data loss during data transmission. For example, in the CAN bus or other communication protocols, the parity bit can be used to check whether bit errors (such as signal interference, data loss, etc.) have occurred during transmission.

[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 passes, data transmission is correct. The first MCU controls the torque output of the first motor based on the assigned value (e.g., 60 Nm). The first MCU calculates the three-phase current based on this value and outputs the corresponding PWM control signals, controlling 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 controls the torque output of the second motor according to the second torque distribution value after the verification is successful.

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

[0088] This embodiment provides a dual-motor control method, the method comprising: a TCU receiving a target torque value sent by a VCU and obtaining a torque distribution ratio between a first MCU and a second MCU; the TCU determining a first torque distribution value for the first MCU and a second torque distribution value for the second MCU based on the torque distribution ratio and the target torque value; the TCU sending the target torque value and the first torque distribution value to the first MCU and the target torque value and the second torque distribution value to the second MCU; the first MCU performing verification based on the target torque value and the first torque distribution value, and upon successful verification, controlling the torque output of the first motor based on the first torque distribution value; the second MCU performing verification based on the target torque value and the second torque distribution value, and upon successful verification, controlling the torque output of the second motor based on the second torque distribution value. In this manner, the dual motors work together to jointly output the torque required by the vehicle, wherein each motor is individually controlled by the MCU. In this way, if one motor is damaged, the other motor can still output torque, preventing the vehicle from stalling and improving 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. Figure 3 As shown, the method includes 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 based on the actual operating conditions of the two motors (the above embodiments describe various methods for determining the dynamic torque distribution ratio, and any of the above methods can be used). The VCU sends the dynamic torque distribution ratio to the TCU and 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 calibration 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 a preset number, it indicates that the calculation is incorrect, 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 indicates 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 and control the three-phase electrical signals of the two motors respectively, so that the two motors output corresponding torques respectively.

[0105] S207: Obtain a degraded torque distribution ratio.

[0106] In one implementation, when the torque split ratio is fixed, the degraded torque ratio is also fixed and smaller than the torque split ratio. For example, the first MCU allocates 50% torque. Due to a single verification error, the degraded torque split is reduced to 40%. After a second verification error, the torque split can be further reduced by 10%, or it can remain at 40%.

[0107] In another implementation, the torque distribution ratio is dynamic. The obtained dynamic torque distribution ratio is multiplied by the degradation ratio to obtain a degraded torque distribution ratio. The degradation ratio is less than 1, and exemplary degradation ratios are 80%, 70%, 60%, 30%, etc. The degradation ratio can be used to reduce the torque output of the faulty motor, thereby preventing unpredictable safety hazards such as unexpected torque fluctuations.

[0108] After the first MCU's torque is downgraded, the initially allocated torque distribution ratio can remain unchanged for the second MCU. This means that the downgrade of the first MCU does not affect the calculations on the second MCU. The torque distribution ratio on the second MCU can also change. For example, if the torque distribution ratio on the first MCU is reduced from 50% to 40%, the torque distribution ratio on the second MCU will increase from 50% to 60%.

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

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

[0111] S209 : Control 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 based on 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 degradation processing when an error occurs in the MCU control link, execute relatively low driving torque, avoid vehicle damage caused by 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, which then distributes the torque. The first and second MCUs each perform a check. The check is performed by dividing the received torque distribution value by the torque distribution ratio to determine if the resulting check torque value is within 2% of the target torque value.

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

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

[0122] The MCU obtains the three-phase electrical signal in the circuit (for example, through a current sensor), queries the corresponding torque based on the obtained three-phase electrical signal, and divides the queried torque by the torque distribution ratio to obtain a second verification torque value. It determines whether the deviation between the second verification torque value and the target torque value exceeds 2%. If it exceeds 2%, a degradation measure is implemented, 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 will perform 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 100% torque distribution ratio.

[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 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 requirements. The MCU verifies and monitors the input and output signals for control torque commands from the VCU, ensuring that the output torque is within 2% of the VCU torque. Furthermore, if a program calculation error occurs on the chip, the chip can accurately and quickly execute a safe state, ensuring that unacceptable safety risks are avoided.

[0126] When the first MCU fails verification three times in a row, it needs to notify the second MCU. The first MCU sends a verification failure status to the second MCU, indicating that the number of consecutive verification failures of the first MCU exceeds a preset number. This communication link can be transmitted directly through the communication channel between the first and second MCUs. If this communication link cannot be transmitted, the transmission 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 encounters 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 the other 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 this 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 further 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 the at least one processor 501 performs the above method.

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

[0132] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), 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 present invention may be directly implemented by a hardware processor or implemented 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 (NVM), such as at least one disk memory.

[0134] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be classified into address buses, data buses, and control buses. For ease of illustration, the buses in the drawings of this application are not limited to just one bus or just 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 memory 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-purpose 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 an integral part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (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 merely a logical functional division; actual implementations may employ alternative divisions, such as combining or integrating multiple units or components into another system, or omitting or disabling certain features. Furthermore, any direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between devices or units, either through an interface, electrical, mechanical, or other means.

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

[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 and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments 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, and other media that can store program code.

[0144] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0145] Finally, it should be noted that those skilled in the art will readily identify 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 that follow the general principles of the present invention and include common knowledge or customary techniques in the art not disclosed herein. The present invention is not limited to the precise structure described above and illustrated in the accompanying drawings, and various modifications and variations may be made without departing from the scope thereof. The scope of the present invention is limited solely 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, and a second MCU, the first MCU being connected to the first motor and the second motor respectively, and the second MCU being connected to the first motor and the second motor respectively, the method comprising: 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 verifies the target torque value and the first torque distribution value, and controls the torque output of the first motor according to the first torque distribution value after the verification is successful; The second MCU verifies the target torque value and the second torque distribution value, and controls the torque output of the second motor according to the second torque distribution value after the verification is successful; 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; 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.

2. The method according to claim 1, characterized in that If the verification fails, the method further includes: 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.

3. The method according to claim 2, 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 torque control of the first motor; The second MCU controls the second motor according to the target torque value.

4. The method according to claim 3, 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 and the second power management chip are connected; 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 a verification failure status of the first MCU through a periodic question and answer, where the verification failure status indicates that the first MCU has failed verification more than a preset number of times in a row; 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.

5. The method according to claim 3, characterized in that The first MCU and the second MCU are connected, 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.

6. The method according to claim 1, 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 demotion message to the second MCU, where the demotion message is used to instruct the first MCU to stop controlling the first motor.

7. 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, and 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 to 6.

8. A vehicle, characterized in that: The vehicle includes the dual-motor control system according to claim 7 .

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