Torque distribution method and system based on multi-drive-axle and multi-motor drive system

Abstract

The invention provides a torque distribution method and system based on a multi-drive-axle and multi-motor drive system, and relates to the technical field of data processing, the method comprises the steps that current state data are collected, and the current state data comprise driver intention information, vehicle state information, drive system state information and battery state information; calculating the final required torque of the driving system based on the current state data; according to the load and the operation state of the driving system, working priorities of all the driving axles and driving motors are calculated; according to the final required torque and the working priority of the driving system, torque distribution is conducted on all the driving motors through a torque distribution rule, and the initial distribution torque of all the driving motors is determined; and based on the preliminary distribution torque, performing temperature heat balance control on each driving motor, and determining the final distribution torque of each driving motor. The comprehensive efficiency and reliability of the driving system are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of data processing, and in particular to a torque distribution method and system based on a multi-drive axle multi-motor drive system. Background Art

[0002] A multi-drive axle and multi-motor drive system usually includes two or more drive axles. A single drive axle usually includes one or more drive motors and their reduction / speed-changing components. The torque analysis and distribution method of the electric drive system is one of the core technologies of new energy vehicles with a multi-drive axle and multi-motor drive system.

[0003] Reasonable torque distribution can make full use of the battery system capabilities, improve the vehicle's power and energy recovery efficiency, and dynamically adjust the load to balance the use of each drive axle and motor to extend component life. Effective torque distribution can solve the problem of motor efficiency fluctuations due to changes in operating conditions, ensure optimal overall efficiency, and avoid performance limitations.

[0004] However, the existing torque distribution method usually adopts a fixed priority method to distribute the workload in a multi-drive axle or multi-motor drive system. The workload of the motor with high priority and the axle it is on is significantly higher than that of other motors and the axle they are on, which shortens the overall average life of the drive system and reduces reliability. The existing torque distribution method does not comprehensively consider the thermal balance of the drive motor. During the operation of the drive system, the over-temperature alarm will be triggered due to the excessive temperature difference between the drive motors, which will limit the performance of the drive system and affect the economy of the entire vehicle. Summary of the invention

[0005] In order to solve the technical problem that the existing torque distribution method usually adopts a fixed priority method to distribute the workload in a multi-drive axle or multi-motor drive system, the workload of the motor with high priority and the bridge where it is located is significantly higher than that of other motors and the bridge where they are located, which shortens the overall average life of the drive system and reduces the reliability, the existing torque distribution method does not comprehensively consider the thermal balance of the drive motor, and during the operation of the drive system, the temperature difference between the drive motors is too large to trigger the over-temperature alarm, limit the performance of the drive system, and affect the economy of the whole vehicle, the present invention provides a torque distribution method and system based on a multi-drive axle and multi-motor drive system.

[0006] The technical solution provided by the embodiment of the present invention is as follows:

[0007] First aspect:

[0008] An embodiment of the present invention provides a torque distribution method based on a multi-drive axle multi-motor drive system, comprising:

[0009] S1: collecting current state data, wherein the current state data includes: driver intention information, vehicle state information, drive system state information and battery state information;

[0010] S2: Calculate the final required torque of the drive system based on the current state data;

[0011] S3: Calculate the working priority of each drive axle and drive motor according to the load and operating status of the drive system;

[0012] S4: Distribute torque to each drive motor using a torque distribution rule according to the final required torque of the drive system and the work priority, and determine the preliminary distribution torque of each drive motor;

[0013] S5: Based on the preliminary distributed torque, the temperature heat balance control is performed on each drive motor to determine the final distributed torque of each drive motor.

[0014] Second aspect:

[0015] An embodiment of the present invention provides a torque distribution method system based on a multi-drive axle multi-motor drive system, comprising:

[0016] processor;

[0017] A memory having computer-readable instructions stored therein, which, when executed by a processor, implements the torque distribution method based on a multi-drive axle multi-motor drive system as in the first aspect.

[0018] The third aspect:

[0019] An embodiment of the present invention provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the torque distribution method based on a multi-drive axle and multi-motor drive system according to the first aspect is implemented.

[0020] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0021] In the present invention, the load of the drive axle and the drive motor is dynamically adjusted by calculating the work priority, ensuring that the work load of each drive axle or drive motor is balanced, avoiding premature fatigue of the drive axle or motor due to long-term high-load work, and improving the overall service life and reliability of the drive system. The torque is distributed to each drive motor through the torque distribution rule to improve the real-time and flexibility of the torque distribution, ensuring that the output of the drive system can also meet the driver's needs in the event of a fault. The economy of the system is improved through reasonable distribution. By performing temperature thermal balance control on each drive motor, the temperature difference of each drive motor in the drive system is balanced as much as possible within a smaller range, reducing the impact of the temperature difference on the system performance and efficiency, reducing the heat loss of the drive system, and improving the overall efficiency of the drive system. At the same time, it also reduces the risk of the drive system entering an over-temperature fault prematurely due to excessive temperature difference, thereby improving the reliability of the drive system. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 A schematic flow chart of a torque distribution method based on a multi-drive axle multi-motor drive system provided by an embodiment of the present invention;

[0024] Figure 2 A schematic diagram of the structure of a multi-drive axle multi-motor drive system provided by an embodiment of the present invention;

[0025] Figure 3 A schematic structural diagram of a torque distribution system based on a multi-drive axle multi-motor drive system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0026] The technical solution of the present invention is described below in conjunction with the accompanying drawings.

[0027] In the embodiments of the present invention, words such as "exemplarily" and "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "example" in the present invention should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of the word "example" is intended to present the concept in a specific way. In addition, in the embodiments of the present invention, the meaning expressed by "and / or" can be both, or it can be either of the two.

[0028] In the embodiments of the present invention, "image" and "picture" can sometimes be used interchangeably. It should be noted that when the difference between them is not emphasized, the meanings they intend to express are the same. "of", "corresponding, relevant" and "corresponding" can sometimes be used interchangeably. It should be noted that when the difference between them is not emphasized, the meanings they intend to express are the same.

[0029] In the embodiments of the present invention, sometimes a subscript such as W1 may be written as a non-subscript such as W1. When the difference is not emphasized, the meanings to be expressed are the same.

[0030] In order to make the technical problems, technical solutions and advantages to be solved by the present invention more clear, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0031] Reference Manual Attached Figure 1 , shows a flow chart of a torque distribution method based on a multi-drive axle multi-motor drive system provided by an embodiment of the present invention.

[0032] Reference Manual Attached Figure 2 , shows a structural schematic diagram of a multi-drive bridge and multi-motor drive system provided by an embodiment of the present invention.

[0033] like Figure 2 The drive system consists of four drive motors (M1, M2, M3, M4) and their corresponding reducers or transmissions (G1, G2, G3, G4), which drive multiple wheels on the front and rear axles respectively. The drive system is connected to the vehicle control unit (VCU) and the battery management system (BMS) through control signals. The VCU coordinates the operation and torque distribution of the motor according to the real-time status information of the vehicle (such as torque demand, battery status, etc.). The BMS is responsible for the energy management of the battery to ensure the stability and efficiency of the power system operation.

[0034] An embodiment of the present invention provides a torque distribution method based on a multi-drive axle multi-motor drive system, the method comprising:

[0035] S1: Collect current status data, where the current status data includes: driver intention information, vehicle status information, drive system status information and battery status information.

[0036] Among them, driver intention information includes the accelerator pedal opening, vehicle status information refers to the real-time status data of the vehicle operation, including the vehicle speed and output shaft speed, drive system status information refers to the operating parameters of the multi-drive axle or motor system, including motor speed, output torque, temperature, fault information, etc., battery status information refers to the voltage, current, allowed charging and discharging power, remaining power and other parameters related to energy management of the vehicle's power battery.

[0037] It should be noted that the use of the vehicle controller (VCU) to collect real-time data such as driver intention, vehicle status, drive system status and battery status can fully understand the current operating status of the vehicle and provide accurate and comprehensive basic information for subsequent torque calculation and distribution.

[0038] In a possible implementation manner, the current status data is specifically:

[0039] X=[α,n,v,V bat ,I bat ,I d ,I e ,G t ] T

[0040] Among them, X represents the current state data, α represents the accelerator pedal opening, n represents the output shaft speed of the vehicle, v represents the vehicle speed, V bat Indicates the battery voltage, I bat Indicates the actual battery current, I d Indicates the allowable discharge current of the battery, I e Indicates the allowable charging current of the battery, G t Indicates the transmission gear information or reducer speed ratio information. T Indicates transpose.

[0041] S2: Calculate the final required torque of the drive system based on the current state data.

[0042] It should be noted that by calculating the final required torque of the drive system, it is possible to comprehensively consider factors such as driver intention, battery status, vehicle operating conditions and external characteristics of the drive system, dynamically adapt to complex working conditions and ensure the accuracy of torque requirements.

[0043] In a possible implementation, S2 specifically includes:

[0044] S201: Calculate the permissible drive power of the drive system:

[0045]

[0046] Among them, P m Indicates the permissible drive power of the drive system, P bat Indicates the current allowable power of the battery, P c Indicates the current battery power, e(I bat ,U bat ,I d ,I e ) indicates the current battery power P c and battery allowable power P bat The error, Kg Indicates the adjustment factor of the drive system's allowable power, K p Represents the proportional coefficient of the PID controller, K d represents the differential coefficient of the PID controller, Indicates the rate of change of power error, U bat Indicates the battery voltage.

[0047] S202: Calculating the driver's required torque:

[0048] T init =f Lookup {α,n,Tab(α,n,T)}

[0049] Among them, T init represents the driver demand torque, f Lookup represents a table lookup function, Tab(α,n,T) indicates that the input is the accelerator pedal opening and the output shaft speed of the vehicle, and the output is a two-dimensional linear interpolation table of the driver's required torque, and T represents the output of the table lookup function.

[0050] S203: Calculate the external characteristic torque limit of the drive system:

[0051] T ext =f Lookup {n,Tab(n,T)}

[0052] Among them, T ext It represents the external characteristic torque limit of the drive system. Tab(n,T) represents that the input is the output shaft speed of the vehicle and the output is a one-dimensional linear interpolation table of the external characteristic torque of the drive system.

[0053] S204: Calculate the final required torque of the drive system according to the allowable drive power of the drive system, the driver's required torque, and the external characteristic torque limit of the drive system:

[0054]

[0055] Among them, T out It indicates the final required torque of the drive system, and min indicates the minimum value.

[0056] S3: Calculate the working priority of each drive axle and drive motor according to the load and operating status of the drive system.

[0057] Among them, the drive system load refers to the output load borne by the drive axle and drive motor under the current working conditions, usually including torque output, power demand and work intensity, etc. The operating status refers to the real-time working parameters of the drive system, including the motor speed, temperature, fault status, operating time, etc., which are used to evaluate the current health of the system and load distribution capabilities. The working priority is an indicator calculated based on the load and status of the drive axle or motor, which is used to determine the priority of each drive unit in torque distribution.

[0058] It should be noted that by calculating the working priorities of the drive axle and the drive motor, the load of each drive unit can be dynamically balanced, avoiding long-term overload or idleness of certain components, and extending the service life of the system.

[0059] In the present invention, the calculation formula of the driving axle workload is specifically:

[0060]

[0061] Among them, W axi represents the workload of the i-th drive axle, T axi represents the output torque of the i-th drive axle, i=1,2,...,p, p represents the total number of drive axles, represents the current load value of the i-th drive axle in the k-th iteration, and t represents the working time of the drive axle.

[0062] The calculation formula of the driving motor workload is as follows:

[0063]

[0064] Among them, W mi represents the workload of the i-th drive motor, T Mi represents the output torque of the i-th drive motor, i=1,2,...,q, q represents the total number of drive motors, Represents the current load value of the i-th drive motor in the k-th iteration.

[0065] The priority order is as follows:

[0066] Φ[A x1 ,A x2 ,...,A xn ]=sort(W ax1 ,W ax2 ,...,W axn )

[0067] Φ[M1,M2,...,M n ]=sort(W m1 ,W m2 ,...,W mn )

[0068] Among them, sort represents the sorting function;

[0069] The specific correction of the drive axle workload is:

[0070]

[0071] Among them, J pax Indicates the evaluation index of the working load of the drive axle, and determines whether the load of each drive axle exceeds the evaluation index J pax If it exceeds, reset the load to 0; if it does not exceed, retain the original load value.

[0072] The specific correction of the driving motor workload is:

[0073]

[0074] Among them, J pm Indicates the evaluation index of the driving motor workload, and determines whether the load of each driving motor exceeds the evaluation index J pm If it exceeds, reset the load to 0; if it does not exceed, retain the original load value.

[0075] In a possible implementation, S3 is specifically:

[0076]

[0077] in, Represents the working priority set of each drive axle and each drive motor, M i represents the priority of the i-th drive motor, T Mi represents the output torque of the i-th drive motor, i = 1, 2, ..., q, q represents the total number of drive motors, A xj Indicates the priority of the jth drive axle, T axj represents the total output torque of the jth drive axle, j = 1, 2, ..., p, p represents the total number of drive axles, t represents the working time of the drive motor, J pax The evaluation index of the drive axle workload, J pm An evaluation index that represents the workload of the drive motor.

[0078] S4: Distribute torque to each drive motor using a torque distribution rule according to the final required torque of the drive system and the work priority, and determine the initial distribution torque of each drive motor.

[0079] It should be noted that using the torque distribution rules to allocate torque to each motor can achieve rational use of resources and efficient power output, ensuring that high-priority motors avoid overload while meeting demand, and low-priority motors are properly utilized, thereby optimizing the overall efficiency of the system, improving power and economy, and improving the stability and reliability of the drive system.

[0080] In a possible implementation manner, S4 is specifically:

[0081]

[0082] Among them, T[M1,M2,...,M q ] represents the initial distribution torque of each drive motor, Represents the rated torque matrix of each drive motor, Represents the peak torque matrix of each drive motor, Represents the fault level matrix of each drive motor.

[0083] In a possible implementation manner, the torque distribution rule specifically includes:

[0084] When the final required torque of the drive system is less than the rated torque of the first drive motor, the first drive motor works alone:

[0085]

[0086] Among them, T M1 represents the initial distribution torque of the first drive motor, represents the rated torque of the first drive motor, Indicates the transmission gear information or reducer ratio related to the first drive motor, T Mi represents the initial distribution torque of the i-th drive motor, i=1,2,...,q, q represents the total number of drive motors;

[0087] When the final required torque of the drive system is greater than the rated torque of the first drive motor and less than the sum of the rated torques of the first drive motor and the second drive motor, and the first drive motor and the second drive motor are working at the same time, the final required torque of the drive system is distributed to the multiple motors in sequence:

[0088]

[0089] in, represents the rated torque of the second drive motor, Indicates the transmission gear information or reducer ratio related to the second drive motor, T M2 represents the preliminary distribution torque of the second drive motor;

[0090] When the final required torque of the drive system is less than the sum of the rated torques of each drive motor:

[0091]

[0092] in, represents the rated torque of the fourth drive motor, Indicates the transmission gear information or reducer ratio related to the fourth drive motor. represents the rated torque of the kth drive motor, Indicates the rated torque of the i-th drive motor, i=1,2,…,k-1, k indicates the number of the drive motor currently distributing torque, represents the transmission gear information or reducer speed ratio related to the kth drive motor, T Mk represents the initial distribution torque of the kth drive motor, represents the transmission gear information or reducer speed ratio related to the i-th drive motor, T Mr represents the initial allocated torque of the rth drive motor, r=k+1, k+2…,q, q represents the total number of drive motors. When allocated to the kth drive motor, the final required torque of the drive system has been allocated, and the initial allocated torques of the drive motors after number k are all 0.

[0093] When the drive motor fails, the remaining torque is redistributed:

[0094] When the final required torque of the drive system is greater than the sum of the rated torques of each drive motor, the remaining torque is distributed to each drive motor:

[0095]

[0096] When the drive motor fails, the remaining torque is redistributed.

[0097] It should be noted that the number of working motors and load distribution are dynamically adjusted according to the required torque and the rated capacity of each motor. At the same time, the remaining torque is redistributed when a motor fails to ensure system stability, improve the flexibility and real-time performance of torque distribution, avoid energy waste, and improve the system's fault tolerance and reliability, ensuring that the vehicle's power and economy are fully utilized.

[0098] S5: Based on the preliminary distributed torque, the temperature heat balance control is performed on each drive motor to determine the final distributed torque of each drive motor.

[0099] Among them, temperature thermal balance control refers to appropriately reducing the torque load of the high-temperature motor according to the real-time temperature status of each drive motor, transferring part of the load to the low-temperature motor, thereby achieving a dynamic balance of the temperature of each motor and avoiding overheating of the high-temperature motor, causing performance degradation or failure.

[0100] It should be noted that through temperature thermal balance control, it is possible to avoid large temperature differences that lead to system performance degradation or trigger temperature protection, effectively reduce the risk of overheating of high-temperature motors, extend the service life of the drive motor, ensure stable and reliable operation of the drive system, and optimize the power and economy of the vehicle.

[0101] In a possible implementation, S5 specifically includes:

[0102] S501: Perform a sorting test on the temperatures of the various drive motors to obtain a sorting test result:

[0103]

[0104] Among them, index represents the order of the temperature of the drive motor from high to low, T Tmp , It represents the real-time temperature of each drive motor, and sort represents the sorting function.

[0105] S502: According to the sorting detection result, the temperature heat balance control is performed on each drive motor to determine the final distribution torque of each drive motor:

[0106]

[0107] Among them, T out [M1,M2,M3,M4] represents the final torque distribution matrix, Represents the temperature matrix of each drive motor, Indicates the temperature threshold for starting the drive motor temperature balance control. Indicates the temperature threshold for shutting down the temperature balance control of the drive motor. Indicates the torque derating control coefficient, Indicates the torque derating limit.

[0108] In a possible implementation manner, the temperature heat balance control of each drive motor is specifically performed as follows:

[0109] When the highest temperature of the drive system is greater than the temperature threshold for starting the temperature balance control of the drive motor, the drive motor with the highest temperature and the drive motor with the lowest temperature perform torque transfer to obtain a balanced distribution torque of each drive motor;

[0110] When the first drive motor is the drive motor with the highest temperature and the fourth drive motor is the drive motor with the lowest temperature:

[0111]

[0112] in, It represents the output torque after the first drive motor performs torque transfer. represents the output torque of the fourth drive motor after torque transfer, T M4 represents the distributed torque of the kth drive motor.

[0113] It should be noted that by transferring torque between the motors with the highest and lowest temperatures, the load on the high-temperature motor can be reduced, avoiding the risk of overheating. At the same time, the utilization rate of the low-temperature motor can be improved, the reliability and efficiency of the drive system can be improved, the motor life can be extended, and the stable operation of the system can be guaranteed.

[0114] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0115] In the present invention, the load of the drive axle and the drive motor is dynamically adjusted by calculating the work priority, ensuring that the work load of each drive axle or drive motor is balanced, avoiding premature fatigue of the drive axle or motor due to long-term high-load work, and improving the overall service life and reliability of the drive system. The torque is distributed to each drive motor through the torque distribution rule to improve the real-time and flexibility of the torque distribution, ensuring that the output of the drive system can also meet the driver's needs in the event of a fault. The economy of the system is improved through reasonable distribution. By performing temperature thermal balance control on each drive motor, the temperature difference of each drive motor in the drive system is balanced as much as possible within a smaller range, reducing the impact of the temperature difference on the system performance and efficiency, reducing the heat loss of the drive system, and improving the overall efficiency of the drive system. At the same time, it also reduces the risk of the drive system entering an over-temperature fault prematurely due to excessive temperature difference, thereby improving the reliability of the drive system.

[0116] Reference Manual Attached Figure 3 , showing a structural schematic diagram of a torque distribution method system based on a multi-drive axle and multi-motor drive system provided by the present invention.

[0117] The present invention further provides a torque distribution method system 20 based on a multi-drive axle multi-motor drive system, which is applied to the above-mentioned torque distribution method based on a multi-drive axle multi-motor drive system, comprising:

[0118] Processor 201.

[0119] The memory 202 stores computer-readable instructions. When the computer-readable instructions are executed by the processor 201 , a torque distribution method based on a multi-drive axle multi-motor drive system as in the method embodiment is implemented.

[0120] The torque distribution method system 20 based on a multi-drive axle and multi-motor drive system provided by the present invention can execute the above-mentioned torque distribution method based on a multi-drive axle and multi-motor drive system and achieve the same or similar technical effects. To avoid repetition, the present invention will not go into details.

[0121] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0122] In the present invention, the load of the drive axle and the drive motor is dynamically adjusted by calculating the work priority, ensuring that the work load of each drive axle or drive motor is balanced, avoiding premature fatigue of the drive axle or motor due to long-term high-load work, and improving the overall service life and reliability of the drive system. The torque is distributed to each drive motor through the torque distribution rule to improve the real-time and flexibility of the torque distribution, ensuring that the output of the drive system can also meet the driver's needs in the event of a fault. The economy of the system is improved through reasonable distribution. By performing temperature thermal balance control on each drive motor, the temperature difference of each drive motor in the drive system is balanced as much as possible within a smaller range, reducing the impact of the temperature difference on the system performance and efficiency, reducing the heat loss of the drive system, and improving the overall efficiency of the drive system. At the same time, it also reduces the risk of the drive system entering an over-temperature fault prematurely due to excessive temperature difference, thereby improving the reliability of the drive system.

[0123] It should be understood that the processor in the embodiment of the present invention may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0124] It should also be understood that the memory in the embodiments of the present invention may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0125] The above embodiments can be implemented in whole or in part by software, hardware (such as circuits), firmware or any other combination. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When a computer instruction or computer program is loaded or executed on a computer, a process or function according to an embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. Computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center by wired (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that contains one or more available media sets. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a tape), an optical medium (for example, a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state hard disk.

[0126] It should be understood that the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. A and B can be singular or plural. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship, but it may also indicate an "and / or" relationship. Please refer to the context for specific understanding.

[0127] In the present invention, "at least one" means one or more, and "plurality" means two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can be represented by: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0128] It should be understood that in various embodiments of the present invention, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0129] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0130] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described equipment, devices and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0131] In the several embodiments provided by the present invention, it should be understood that the disclosed devices, apparatuses and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, 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 through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0132] 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.

[0133] 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.

[0134] 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 various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.

[0135] An embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, a torque distribution method based on a multi-drive axle multi-motor drive system as described in a method embodiment is implemented.

[0136] A computer-readable storage medium provided by the present invention can implement the steps and effects of the torque distribution method based on a multi-drive axle multi-motor drive system of the above method embodiment. To avoid repetition, the present invention will not go into details.

[0137] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0138] In the present invention, the load of the drive axle and the drive motor is dynamically adjusted by calculating the work priority, ensuring that the work load of each drive axle or drive motor is balanced, avoiding premature fatigue of the drive axle or motor due to long-term high-load work, and improving the overall service life and reliability of the drive system. The torque is distributed to each drive motor through the torque distribution rule to improve the real-time and flexibility of the torque distribution, ensuring that the output of the drive system can also meet the driver's needs in the event of a fault. The economy of the system is improved through reasonable distribution. By performing temperature thermal balance control on each drive motor, the temperature difference of each drive motor in the drive system is balanced as much as possible within a smaller range, reducing the impact of the temperature difference on the system performance and efficiency, reducing the heat loss of the drive system, and improving the overall efficiency of the drive system. At the same time, it also reduces the risk of the drive system entering an over-temperature fault prematurely due to excessive temperature difference, thereby improving the reliability of the drive system.

[0139] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

[0140] There are a few points to note:

[0141] (1) The drawings of the embodiments of the present invention only relate to the structures related to the embodiments of the present invention, and other structures may refer to the general design.

[0142] (2) For the sake of clarity, in the drawings used to describe the embodiments of the present invention, the thickness of the layers or regions is exaggerated or reduced, that is, these drawings are not drawn according to the actual scale. It is understood that when an element such as a layer, film, region or substrate is referred to as being "on" or "under" another element, the element may be "directly" "on" or "under" the other element or there may be intermediate elements.

[0143] (3) In the absence of conflict, the embodiments of the present invention and the features therein may be combined with each other to obtain new embodiments.

[0144] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. The protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A torque distribution method based on a multi-drive axle multi-motor drive system, characterized in that: include: S1: collecting current state data, wherein the current state data includes: driver intention information, vehicle state information, drive system state information and battery state information; S2: Calculating the final required torque of the drive system based on the current state data; S3: Calculate the working priority of each drive axle and drive motor according to the load and operating status of the drive system; S4: distributing torque to each drive motor using a torque distribution rule according to the final required torque of the drive system and the work priority, and determining a preliminary distribution torque of each drive motor; S5: Based on the preliminary distributed torque, thermal balance control is performed on each drive motor to determine the final distributed torque of each drive motor.

2. The torque distribution method based on a multi-drive axle multi-motor drive system according to claim 1, characterized in that: The current status data is specifically: X=[α,n,v,V bat ,I bat ,I d ,I e ,G t ] T Among them, X represents the current state data, α represents the accelerator pedal opening, n represents the output shaft speed of the vehicle, v represents the vehicle speed, V bat Indicates the battery voltage, I bat Indicates the actual battery current, I d Indicates the allowable discharge current of the battery, I e Indicates the allowable charging current of the battery, G t Indicates the transmission gear information or reducer speed ratio information. T Indicates transpose.

3. The torque distribution method based on a multi-drive axle multi-motor drive system according to claim 2, characterized in that: The S2 specifically includes: S201: Calculate the permissible drive power of the drive system: Among them, P m Indicates the permissible drive power of the drive system, P bat Indicates the current allowable power of the battery, P c Indicates the current battery power, e(I bat ,U bat ,I d ,I e ) indicates the current battery power P c and battery allowable power P bat The error, K g Indicates the adjustment factor of the drive system's allowable power, K p Represents the proportional coefficient of the PID controller, K d represents the differential coefficient of the PID controller, Indicates the rate of change of power error, U bat Indicates battery voltage; S202: Calculating the driver's required torque: T init =f Lookup {a,n,Tab(a,n,T)} Among them, T init represents the driver demand torque, f Lookup represents a table lookup function, Tab(α,n,T) represents that the input is the accelerator pedal opening and the output shaft speed of the vehicle, and the output is a two-dimensional linear interpolation table of the driver's required torque, and T represents the output of the table lookup function; S203: Calculate the external characteristic torque limit of the drive system: T ext =f Lookup {n,Tab(n,T)} Among them, T ext It represents the external characteristic torque limit of the drive system. Tab(n,T) represents that the input is the output shaft speed of the vehicle and the output is a one-dimensional linear interpolation table of the external characteristic torque of the drive system. S204: Calculate the final required torque of the drive system according to the allowable drive power of the drive system, the driver required torque and the external characteristic torque limit of the drive system: Among them, T out It indicates the final required torque of the drive system, and min indicates the minimum value.

4. The torque distribution method based on a multi-drive axle multi-motor drive system according to claim 3, characterized in that: The S3 is specifically: in, Represents the working priority set of each drive axle and each drive motor, M i represents the priority of the i-th drive motor, T Mi represents the output torque of the i-th drive motor, i = 1, 2, ..., q, q represents the total number of drive motors, A xj Indicates the priority of the jth drive axle, T axj represents the total output torque of the jth drive axle, j = 1, 2, ..., p, p represents the total number of drive axles, t represents the working time of the drive motor, J pax The evaluation index of the drive axle workload, J pm An evaluation index that represents the workload of the drive motor.

5. The torque distribution method based on a multi-drive axle multi-motor drive system according to claim 4, characterized in that: The S4 is specifically: Among them, T[M1,M2,…,M q ] represents the initial distribution torque of each drive motor, Represents the rated torque matrix of each drive motor, Represents the peak torque matrix of each drive motor, Represents the fault level matrix of each drive motor.

6. The torque distribution method based on a multi-drive axle multi-motor drive system according to claim 5, characterized in that: The torque distribution rule specifically includes: When the final required torque of the drive system is less than the rated torque of the first drive motor, the first drive motor works alone: Among them, T M1 represents the initial distribution torque of the first drive motor, represents the rated torque of the first drive motor, Indicates the transmission gear information or reducer ratio related to the first drive motor, T Mi represents the initial distribution torque of the i-th drive motor, i=1,2,…,q, q represents the total number of drive motors; When the final required torque of the drive system is greater than the rated torque of the first drive motor and less than the sum of the rated torques of the first drive motor and the second drive motor, and the first drive motor and the second drive motor are working at the same time, the final required torque of the drive system is distributed to the multiple motors in sequence: in, represents the rated torque of the second drive motor, Indicates the transmission gear information or reducer ratio related to the second drive motor, T M2 represents the preliminary distribution torque of the second drive motor; When the final required torque of the drive system is less than the sum of the rated torques of the drive motors: in, represents the rated torque of the fourth drive motor, Indicates the transmission gear information or reducer ratio related to the fourth drive motor. represents the rated torque of the kth drive motor, Indicates the rated torque of the i-th drive motor, i=1,2,…,k-1, k indicates the number of the drive motor currently distributing torque, represents the transmission gear information or reducer speed ratio related to the kth drive motor, T Mk represents the initial distribution torque of the kth drive motor, represents the transmission gear information or reducer speed ratio related to the i-th drive motor, T Mr represents the initial distribution torque of the rth driving motor, r=k+1, k+2...,q, q represents the total number of driving motors; When the drive motor fails, the remaining torque is redistributed: When the final required torque of the drive system is greater than the sum of the rated torques of the drive motors, the remaining torque is distributed to the drive motors: When the drive motor fails, the remaining torque is redistributed.

7. The torque distribution method based on a multi-drive axle multi-motor drive system according to claim 6, characterized in that: The S5 specifically includes: S501: Perform a sorting test on the temperatures of the various drive motors to obtain a sorting test result: Among them, index represents the order of the temperature of the drive motor from high to low, T Tmp , It indicates the real-time temperature of each drive motor, and sort indicates the sorting function; S502: According to the sorting detection result, the temperature heat balance control is performed on each drive motor to determine the final distribution torque of each drive motor: Among them, T out [M1,M2,M3,M4] represents the final torque distribution matrix, Represents the temperature matrix of each drive motor, Indicates the temperature threshold for starting the drive motor temperature balance control. Indicates the temperature threshold for shutting down the temperature balance control of the drive motor. Indicates the torque derating control coefficient, Indicates the torque derating limit.

8. The torque distribution method based on a multi-drive axle multi-motor drive system according to claim 7, characterized in that: The specific steps of controlling the temperature thermal balance of each drive motor are as follows: When the highest temperature of the drive system is greater than the temperature threshold for starting the temperature balance control of the drive motor, the drive motor with the highest temperature and the drive motor with the lowest temperature perform torque transfer to obtain a balanced distribution torque of each drive motor; When the first drive motor is the drive motor with the highest temperature and the fourth drive motor is the drive motor with the lowest temperature: in, It represents the output torque after the first drive motor performs torque transfer. represents the output torque of the fourth drive motor after torque transfer, T M4 represents the distributed torque of the kth drive motor.

9. A torque distribution system based on a multi-drive axle multi-motor drive system, characterized in that: include: processor; A memory having computer-readable instructions stored thereon, wherein when the computer-readable instructions are executed by the processor, a torque distribution method based on a multi-drive axle multi-motor drive system as described in any one of claims 1 to 8 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the torque distribution method based on a multi-drive axle multi-motor drive system as described in any one of claims 1 to 8 is implemented.

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