Multi-motor torque distribution method, device, equipment, medium and program

Abstract

The invention provides a multi-motor torque distribution method and device, equipment, a medium and a program, relates to the technical field of torque distribution, and aims to enable motors to work in a high-efficiency area, so that the total efficiency of the motors of a vehicle is highest, and the efficiency of a driving system is optimal. The method comprises the following steps: acquiring vehicle speed information and required torque of a vehicle; based on the vehicle speed information and the required torque, the output state and the torque value of each set of motors are determined in the multiple sets of motors when the total efficiency of the motors is the highest, and the output state comprises torque output and torque recovery; and controlling each motor to operate according to the corresponding output state and torque value.

Description

Technical Field

[0001] The present application relates to the technical field of torque distribution, and particularly to a method, device, equipment, medium and program for distributing the torque of multiple motors. Background Art

[0002] Due to its excellent characteristics such as zero emissions, rapid power response, and efficient drive system, pure electric vehicles have broad application prospects and are also one of the industry directions strongly supported by the country.

[0003] However, the torque distribution scheme of the motor in the related technology is relatively simple, resulting in some motors being in the low-efficiency area and the proportion of the low-efficiency area being too large under certain working conditions, leading to a low efficiency of the vehicle's drive system and thus affecting the vehicle's endurance. Summary of the Invention

[0004] To solve the above technical problems, the present application provides a method, device, equipment, medium and program for distributing the torque of multiple motors to solve the technical problem that the relatively simple torque distribution scheme of the motor in the related technology leads to a low efficiency of the vehicle's drive system and thus affects the vehicle's endurance.

[0005] To achieve the above technical purpose, the present application provides the following technical solutions:

[0006] In a first aspect, an embodiment of the present specification provides a method for distributing the torque of multiple motors, which is applied to a vehicle provided with multiple sets of motors, and the multiple sets of motors provide torque output through a combined box gear set, wherein the torque output direction of at least one set of motors is opposite to the running direction of the vehicle, and includes:

[0007] Obtain the vehicle speed information and the required torque of the vehicle;

[0008] Based on the vehicle speed information and the required torque, determine the output state and torque value of each set of motors when the total motor efficiency is the highest among the multiple sets of motors, and the output state includes torque output and torque recovery;

[0009] Control each motor to operate according to the corresponding output state and torque value.

[0010] In a second aspect, an embodiment of the present specification provides a device for distributing the torque of multiple motors, including:

[0011] An obtaining unit, configured to obtain the vehicle speed information and the required torque of the vehicle;

[0012] A determining unit, configured to determine the output state and torque value of each set of motors when the total motor efficiency is the highest among the multiple sets of motors based on the vehicle speed information and the required torque, and the output state includes torque output and torque recovery;

[0013] A processing unit for controlling each motor to operate according to the corresponding output state and torque value.

[0014] In a third aspect, the present invention provides a computer device, including: a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to perform the method for distributing the torque of multiple motors according to the first aspect or any corresponding embodiment thereof.

[0015] In a fourth aspect, an embodiment of the present specification provides a computer-readable storage medium, on which computer instructions are stored. When the computer instructions are run by a processor, the method for distributing the torque of multiple motors as described in any one of the above is implemented.

[0016] In a fifth aspect, an embodiment of the present specification provides a computer program product or a computer program. The computer program product includes a computer program, and the computer program is stored in a computer-readable storage medium; the processor of the computer device reads the computer program from the computer-readable storage medium, and when the processor executes the computer program, the method for distributing the torque of multiple motors as described in any one of the above is implemented.

[0017] It can be seen from the above technical solutions that the present application provides a method, device, equipment, medium and program for distributing the torque of multiple motors. The method first obtains the vehicle speed information and the required torque, and then determines the output state and torque value of each motor group when the total motor efficiency is the highest based on the vehicle speed information and the required torque. Finally, it controls each motor to operate according to the corresponding output state and torque value. By flexibly adjusting the output state and torque value of each motor group, the motor works in the high-efficiency area, so that the total motor efficiency of the vehicle is the highest, and thus the optimal efficiency of the drive system is achieved. Description of the Drawings

[0018] In order to more clearly illustrate the technical solutions in the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0019] Figure 1 It is a schematic flowchart of a method for distributing the torque of multiple motors provided by an embodiment of the present specification;

[0020] Figure 2 It is a specific schematic flowchart of a method for distributing the torque of multiple motors provided by an embodiment of the present specification;

[0021] Figure 3A schematic diagram of a four - motor structure provided for the embodiments of this specification;

[0022] Figure 4 A schematic diagram of the structure of a vehicle power system provided for the embodiments of this specification;

[0023] Figure 5 A specific process schematic diagram of another method for distributing multi - motor torque provided for the embodiments of this specification;

[0024] Figure 6 A schematic diagram of the structure of a multi - motor torque distribution device provided for the embodiments of this specification;

[0025] Figure 7 A schematic diagram of the structure of an electronic device provided for the embodiments of this specification. Specific embodiments

[0026] Unless otherwise defined, the technical terms or scientific terms used in the embodiments of this specification should have the ordinary meanings understood by those skilled in the art to which this specification belongs. The "first", "second" and similar terms used in the embodiments of this specification do not denote any order, quantity or importance, but are only used to avoid confusion of components.

[0027] Unless otherwise required by the context, throughout this specification, "a plurality" means "at least two", and "including" is interpreted in an open, inclusive sense, that is, "including, but not limited to". In the description of this specification, terms such as "one embodiment", "some embodiments", "exemplary embodiments", "examples", "specific examples" or "some examples" etc. are intended to indicate that specific features, structures, materials or characteristics related to the embodiment or example are included in at least one embodiment or example of this specification. The schematic representations of the above terms do not necessarily refer to the same embodiment or example.

[0028] Next, the technical solutions in the embodiments of this specification will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of this specification. Obviously, the described embodiments are only a part of the embodiments of this specification, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this specification without creative efforts shall fall within the scope of protection of this specification.

[0029] Overview

[0030] As in the background art, the motor torque distribution scheme in the related art is relatively simple, resulting in some motors being in the low - efficiency area and the proportion of the low - efficiency area being too large under certain working conditions, leading to a low efficiency of the vehicle drive system and thus affecting the vehicle's endurance.

[0031] Therefore, it is necessary to provide a method for distributing the torque of multiple motors to solve the above problems.

[0032] In order to solve the problem that the torque distribution scheme of the motor in the related technology is relatively simple, resulting in a low efficiency of the vehicle drive system and thus affecting the vehicle's endurance, in the technical solution of this application, first, the vehicle speed information and the required torque are obtained, and then based on the vehicle speed information and the required torque, in multiple groups of motors that provide torque output through a combined gearbox, the output state and torque value of each group of motors when the total motor efficiency is the highest are determined. Finally, according to the output state and torque value of each group of motors, power that meets the required torque is provided for the vehicle. By flexibly adjusting the output state and torque value of each group of motors, the motors operate in the high-efficiency area, so that the total motor efficiency of the vehicle is the highest, and thus the optimal efficiency of the drive system is achieved.

[0033] Based on the above inventive concept, the method for distributing the torque of multiple motors provided by the embodiments of this specification will be described exemplarily below.

[0034] Exemplary Method

[0035] The embodiments of this specification provide a method for distributing the torque of multiple motors, which is applied to a vehicle equipped with multiple groups of motors, and the multiple groups of motors provide torque output through a combined gearbox as Figure 1 shown, including:

[0036] S101. Obtain the vehicle speed information and the required torque of the vehicle.

[0037] In specific implementation, the current vehicle speed information of the vehicle and the required torque for driving are obtained by setting sensors on the vehicle or directly by reading the vehicle computer data.

[0038] In one embodiment, the current vehicle speed is obtained in real time through a wheel speed sensor installed at the wheel or an in-vehicle GPS. If it is obtained through a sensor, a filtering operation such as Kalman filtering can also be performed on the sensor signal after acquisition to eliminate noise and ensure the accuracy of the data. By analyzing the opening signal of the throttle pedal or the brake pedal, it is converted into the required torque. In addition, if the vehicle is in the autonomous driving mode, the torque requirement can also be directly obtained through the vehicle control module.

[0039] S102. Based on the vehicle speed information and the required torque, determine the output state and torque value of each group of motors when the total motor efficiency is the highest among the multiple groups of motors.

[0040] In specific implementation, according to the vehicle speed information and required torque obtained in step S101, determine the output state and torque value when the total motor efficiency is the highest for multiple groups of motors. The output state includes two states: torque output and torque recovery. When the motor is in the torque output state, this motor provides power output; when the motor is in the torque recovery state, this motor provides kinetic energy recovery. The output or recovery value of a specific motor is reflected by the torque value. In this solution, among the multiple groups of motors determined, at least one group of motors has a torque output direction opposite to the vehicle driving direction, that is, when the vehicle is moving forward, at least one group of motors is in the torque recovery state; when the vehicle is moving backward, at least one group of motors is in the torque output state. When the torque output directions of all motors are the same as the vehicle driving direction, it is the same as the processing method of the prior art and will not be elaborated here.

[0041] In this step, the determination of the output state and torque value can be achieved by querying the output state and torque value of each group of motors that match the vehicle speed information and required torque in a pre-generated query table, or by calculating the output state and torque value of each group of motors when the total motor efficiency is the highest according to the own parameters of each group of motors.

[0042] S103. Control each motor to operate according to the corresponding output state and torque value.

[0043] In specific implementation, according to the output state and torque value of each group of motors determined in step S102, drive each group of motors to provide power that meets the required torque for the vehicle.

[0044] The embodiments of this specification provide a specific process for a method of distributing multi-motor torque, as Figure 2 shown, including:

[0045] S201. Obtain the vehicle speed information and required torque of the vehicle.

[0046] S202. For each motor, determine the external characteristic curve of this motor according to the motor parameters of the motor.

[0047] In specific implementation, according to the own motor parameters of each group of motors, that is, the specifications and characteristics of the motors, determine the external characteristic curves of each group of motors. The external characteristic curve of the motor is a key graph describing the performance of the motor under different working conditions, mainly reflecting the relationships between parameters such as torque, speed, current, and efficiency. In this embodiment, mainly use the external characteristic curve to judge the motor efficiency of each group of motors at different torques.

[0048] S203. Based on the vehicle speed information, required torque, and the external characteristic curves of each group of motors, determine the output state of each group of motors when the total motor efficiency is the highest and the torque value of each group of motors.

[0049] In specific implementation, vehicle speed information, required torque, and the external characteristic curves of each motor group are used to determine the motor efficiency of each motor group at various output states and various torque values. Furthermore, among the multiple output state combinations and multiple torque value combinations that meet the vehicle speed information and required torque, the output state and torque value of each motor group when the total efficiency of all motors is the highest are determined. Specifically, the total efficiency η of the motor is η = P mec / (P 1ele +P 2ele +P 3ele +P 4ele +…P imec );

[0050] P mec = P 1mec +P 2mec +P 3mec +P 4mec +…P imec = Tn / 9550;

[0051] P imec is the mechanical power of the i-th motor, P mec is the mechanical power of the power shaft of the synthesis box, that is, the actual power for driving the vehicle, P iele is the DC power of the i-th motor, T is the required torque of the output shaft of the synthesis box, which is positive during driving and negative during braking; n is the speed of the synthesis box, and the no-load loss of the motor and the transmission efficiency of the synthesis box are ignored.

[0052] Among them, P imec = P iele *η imec , η imec is the system efficiency of the 1, 2, 3, 4 of the i-th motor, that is, the motor efficiency.

[0053] The relationship between vehicle speed and motor speed is: v = 0.12πrn mot / (i*i h ); where r is the tire radius, i is the reduction ratio, i h is the transmission ratio of the synthesis box, n mot is the motor speed. At this time, the total input electric energy P ele = T1n1 / 9550η 1mec +T2n2 / 9550η 2mec +T3n3 / 9550η 3mec +…T i n i / 9550η imec , then it can be known that η = (T1 + T2 + T3…T i ) / (T1 / η 1mec +T2 / η 2mec +T3 / η3mec + … T i / η imec ), where T i is the required torque of the i-th motor.

[0054] In this embodiment, the motors can be of the same specification, or some of the motors can be of the same specification, or the specifications of all the motors can be different. Preferably, when motors of the same specification are selected, it is convenient for calculation and control.

[0055] In this embodiment, the number of motors can be set according to requirements, or the motors can be grouped according to the parameters of the motors. Motors of the same specification can be divided into the same group. At this time, according to the vehicle speed information, the required torque, and the motor parameters of the motors in each group, the output state and torque value corresponding to each group of motors when the total motor efficiency is the highest can be queried in the pre-generated query table.

[0056] In one example, as Figure 3 shown, assuming that the number of motors is 4, namely motor 1, motor 2, motor 3, and motor 4 respectively. At this time, the vehicle powertrain is as Figure 4 shown. At this time, in order to reduce the algorithm complexity and at the same time reduce the problem of reduced component durability caused by inconsistent torques of the opposing motors, the opposing motors 1 / 3 are regarded as a group of motors for control, and the opposing motors 2 / 4 are regarded as a group of motors for control. The torques of the opposing motors are the same in magnitude and direction, and the parameters and specifications of the four groups of motors are the same. The torques of the adjacent opposing motor groups can be different. When the torques of the adjacent opposing motor groups are different, the effect of one group of motors driving and one group of motors braking can be achieved, and the system efficiency can be improved under some working conditions. At this time, the motor efficiency of the first group of motors is η 13 , and the motor efficiency of the second group of motors is η 24 , η 13 =(T1 + T3) / (T1 / η 1mecc + T3 / η 3mec ), η 24 =(T2 + T4) / (T2 / η 2mecc + T4 / η 4mec ). Then the vehicle speed and the four-motor torque grid are divided. For example, the vehicle speed v ∈ [0, 120], and the torque of motor 1 T1 ∈ [-200, 200]. Then the total available torque T of the four motors ava∈[-800, 800], the vehicle speed is sampled at intervals of 10 km / h and the torque is sampled at intervals of 10 Nm. Then the vehicle speed grid points are [10, 20, …, 110, 120], and similarly the torque grid points are [-800, -790, …, 790, 800]. Then enumerate all possible combinations of vehicle speed and torque. The vehicle speed is enumerated according to the grid points, and each vehicle speed grid point corresponds to a set of torque enumeration grid points. There are a total of 12 * 160 possibilities. Then delete the impossible combinations of vehicle speed and torque to reduce the computational complexity. Determine the maximum motor torque corresponding to each motor speed according to the external characteristics of the motor, and add the maximum torques corresponding to the current speeds of motors 1, 2, 3, and 4 to get T add , and ensure that the value of T add is correct. Then divide the torque grid points of motors 1 and 3 into T 13 . It can be sampled at intervals of 10 Nm. Then the torque grid points of motors 1 and 3, T 13 , are [-400, -390, …, 390, 400], and the torques of motors 2 and 4 are T ava -T 13 . According to the enumerated possible combinations of vehicle speed and the available torque T ava of the four motors, sequentially input each enumerated value T 13 in the torque grid points of motors 1 and 3, and calculate the system efficiency η 13 of the opposing motors 1 and 3 under each combination, and take the torque value corresponding to the maximum value. For example, when the vehicle speed is 30 km / h and the total required torque of the four motors is 200 Nm, if the calculated optimal torque value of the first motor is 50 and the total motor efficiency is 90% at this time, then motors 1 and 3 output 50 Nm, and motors 2 and 4 output 150 Nm. According to the average distribution principle, motor 1 outputs 25 Nm, motor 3 outputs 25 Nm, motor 2 outputs 75 Nm, and motor 4 outputs 75 Nm. Then the system efficiency under the current distribution state is 90%.

[0057] S204. Control each motor to operate according to the corresponding output state and torque value.

[0058] The embodiments of this specification provide a specific process for a multi-motor torque distribution method, as shown in Figure 5 , including:[[]]

[0059] S501. Obtain the vehicle speed information and required torque of the vehicle.

[0060] Specifically, in each group of motors, the motor parameters of the motors can be the same, that is, the motors in each group of motors can be selected with the same specifications. When selecting motors with the same specifications, it is convenient for calculation and control.

[0061] S502. Query the output state and torque value corresponding to each group of motors when the total motor efficiency is the highest in the pre-generated query table based on the vehicle speed information, required torque, and motor parameters of the motors in each group.

[0062] During specific implementation, by determining the output state and torque value corresponding to each group of motors when the total motor efficiency is the highest in the pre-generated query table, the query table is used to record the mapping relationship between the vehicle speed information and required torque and the output state and torque value. According to the mapping relationship, the output state and torque value corresponding to each group of motors when the total motor efficiency is the highest under the known vehicle speed information and known required torque can be queried. When generating the specific query table, its calculation method is the same as in step S203. Still taking Figure 3 as an example, assume the number of motors is 4, namely motor 1, motor 2, motor 3, and motor 4. To reduce the algorithm complexity and at the same time reduce the problem of reduced component durability caused by inconsistent torques of opposite motors, the opposite motors 1 / 3 are regarded as a group of motors for control, and the opposite motors 2 / 4 are regarded as a group of motors for control. The torque directions and magnitudes of the opposite motors are the same, and the directions are the same. Moreover, the parameter specifications of the four groups of motors are the same. The torque directions of adjacent pairs of opposite motors can be inconsistent. When the torque directions of adjacent pairs of opposite motors are inconsistent, the effect of one group of motors driving and one group of motors braking can be achieved, and the system efficiency can be improved under some working conditions. At this time, the motor efficiency of the first group of motors is η 13 , and the motor efficiency of the second group of motors is η 24 , η 13 =(T1 + T3) / (T1 / η 1mecc + T3 / η 3mec ), η 24 =(T2 + T4) / (T2 / η 2mecc + T4 / η 4mec ). Then divide the vehicle speed and the torque grid of the four motors. For example, the vehicle speed v ∈ [0, 120], the torque of motor 1 T1 ∈ [-200, 200], then the total available torque T ava of the four motors ∈ [-800, 800]. The vehicle speed takes a point every 10 km / h, and the torque takes a point every 10 Nm. Then the vehicle speed grid points are [10, 20, … 110, 120]. Similarly, the torque grid points are [-800, -790, … 790, 800]. Then enumerate all possible combinations of vehicle speed and torque. The vehicle speed is enumerated according to the grid points. Each vehicle speed grid point corresponds to an enumeration grid point of a group of torques. There are a total of 12 * 160 possibilities. Then delete the impossible combinations of vehicle speed and torque to reduce the calculation complexity. Determine the maximum motor torque corresponding to the speed of each group of motors according to the external characteristics of the motor, and add the maximum torques corresponding to the current speeds of motors 1, 2, 3, and 4 to get T add , and ensure that the value of T add is correct. Then divide the torque grid points of motors 1 and 3 T13 , one point can be taken every 10 Nm, then the torque grid points T of motors 1 and 3 13 are [-400, -390, …, 390, 400], and the torques of motors 2 and 4 corresponding thereto are T ava -T 13 . According to the vehicle speed and the available torques T of the four motors ava of the enumerated possible combinations, the respective enumerated values T in the torque grid points of motors 1 and 3 are input in sequence 13 , and the system efficiency η of the opposing motors 1 and 3 under each combination is calculated 13 , and the torque value corresponding to the maximum value is taken. Save the total torque of motors 1 and 3 corresponding to the highest efficiency η max , and record it as T 13vx_Ty , where x is the current vehicle speed value and y is the total required torque value of the four motors, and then loop to calculate the total torque T of motors 1 and 3 corresponding to different vehicle speeds v and the available torques T of the four motors ava , T 13vx , T y and η 13max , and save the T 13max corresponding to η 13vx_Ty and η T_vx_Ty . For example, when the vehicle speed is 30 km / h and the total required torque of the four motors is 200 Nm, calculate the current optimal T 13v30_T200 = 50, η T_v30_T200 = 90%, then motors 1 and 3 output 50 Nm, and motors 2 and 4 output 150 Nm. According to the average distribution principle, motor 1 outputs 25 Nm, motor 3 outputs 25 Nm, motor 2 outputs 75 Nm, and motor 4 outputs 75 Nm, then the system efficiency in the current distribution state is 90%.

[0063] Still using the above embodiment, when using this query table, look up the table T according to the current vehicle speed and required torque 13vx，Ty , the target torque of motor 1 is 0.5 * T 13vx，Ty , the target torque of motor 2 is 0.5 * T 13vx，Ty , the target torque of motor 3 is 0.5 * (T / i * i h -T 13vx，Ty ), and the target torque of motor 4 is 0.5 * (T / i * i h -T 13vx，Ty ).

[0064] S503. Control each group of motors to operate according to the corresponding output state and torque value.

[0065] In this step, when the torque change value of any motor is greater than the torque threshold, the output state and torque value of the motor can also be corrected based on the torque threshold. Specifically, when it is detected that the target torque of the motor changes too quickly within adjacent control cycles, that is, the torque change rate exceeds the calibration threshold (b), the system will activate the protection mechanism. According to the following formula: |T 1old -T1| / ΔT > b, T1 takes T 1old ±b. If |T 1old -T1| / ΔT ≤ b, then T1 is output, where T 1old is the torque value of the previous time step, T1 is the currently calculated target torque value, ΔT is the time interval, and b is the calibrated maximum allowable torque change rate. For example, if ΔT = 0.01 s and b = 1000 Nm / s, the maximum allowable torque change each time is 1000×0.01 = 10 Nm. If the current torque needs to be adjusted from 50 Nm to 80 Nm (the change is 30 Nm at this time), exceeding the allowable step, the actual adjustment is 50 + 10 = 60 Nm.

[0066] In this embodiment, by controlling the torque direction and torque value of each group of motors, the motors all operate in the high-efficiency area, thereby achieving the highest efficiency of the power system. When determining the output state and torque value of each group of motors, a pre-generated query table can be used for determination, reducing the operating load rate of the computing chip. And when the torque of a certain motor changes rapidly, its change is restricted by the torque gradient, and the other axis compensates for the changed torque, preventing the rapid change of the torque at the wheel ends of the two axes and the excessive fluctuation of the driving torque of the vehicle.

[0067] Exemplary device

[0068] In an exemplary embodiment of this specification, a multi-motor torque distribution device 600 is further provided, as Figure 6 shown, including:

[0069] An acquisition unit 601, configured to acquire the vehicle speed information and the required torque;

[0070] A determination unit 602, configured to determine the output state and torque value of each group of motors when the total motor efficiency is the highest based on the vehicle speed information and the required torque, and the output state includes torque output and torque recovery;

[0071] A processing unit 603, configured to control each motor to operate according to the corresponding output state and torque value.

[0072] In one implementation manner, the determination unit 602 is specifically configured to:

[0073] Based on the external characteristic curves of each group of motors, among the multiple groups of output state combinations and multiple groups of torque value combinations that conform to the vehicle speed information and the required torque, determine the output state of each group of motors and the torque value of each group of motors when the total motor efficiency is the highest.

[0074] In one implementation manner, the determining unit 602 is further specifically configured to:

[0075] Based on the vehicle speed information, the required torque, and the motor parameters of the motors in each group of motors, query in a pre-generated query table the output state and torque value corresponding to each group of motors when the total motor efficiency is the highest. The query table is used to record the mapping relationship between the vehicle speed information and the required torque and the output state and torque value.

[0076] In one implementation manner, the determining unit 602 specifically generates the query table through the following method:

[0077] Enumerate the output state combinations and torque value combinations of each group of motors that conform to the current vehicle speed information and the required torque under any vehicle speed information and any required torque;

[0078] According to the motor parameters of each group of motors, when determining that the total motor efficiency is the highest, determine the output state and torque value corresponding to each group of motors under the current vehicle speed information and the required torque, and write the mapping relationship thereof into the query table.

[0079] In one implementation manner, the determining unit 602 is further specifically configured to:

[0080] Determine the external characteristic curves of each group of motors according to the motor parameters of each group of motors;

[0081] Based on the external characteristic curves of each group of motors, determine the target output state and target torque value corresponding to each group of motors when the total motor efficiency is the highest in the output state combination and the torque value combination, and determine them as the output state and torque value corresponding to each group of motors under the current vehicle speed information and the required torque in the query table;

[0082] Write the mapping relationship between the current vehicle speed information and the required torque and the target output state and target torque value into the query table.

[0083] In one implementation manner, the processing unit 603 is further configured to:

[0084] When the torque change value of any motor is greater than the torque threshold, correct the output state and torque value of the motor based on the torque threshold.

[0085] In one implementation manner, the motor parameters of the motors in each group of motors are the same.

[0086] The multi-motor torque distribution device provided in this embodiment belongs to the same inventive concept as the multi-motor torque distribution method provided in the above embodiments of the present application. It can execute the multi-motor torque distribution method provided in any of the above embodiments of the present application, and has the corresponding functional modules and beneficial effects for executing the multi-motor torque distribution method. For the technical details not described in detail in this embodiment, reference can be made to the specific processing content of the multi-motor torque distribution method provided in the above embodiments of the present application, which will not be elaborated here.

[0087] Exemplary Device

[0088] In an exemplary embodiment of this specification, an electronic device is further provided. As Figure 7 shown, the electronic device may include: a processor 710, a communication interface 720, a memory 730, and a communication bus 740. Among them, the processor 710, the communication interface 720, and the memory 730 communicate with each other through the communication bus 740. The processor 710 can call the logical instructions in the memory 730 to execute the multi-motor torque distribution method, and the method includes:

[0089] Obtain the vehicle speed information and the required torque;

[0090] Based on the vehicle speed information and the required torque, determine the output state and torque value of each group of motors when the total motor efficiency is the highest among multiple groups of motors that provide torque output through a combined gearbox, where the output state includes torque output and torque recovery;

[0091] Provide power that meets the required torque for the vehicle according to the output state and torque value of each group of motors.

[0092] In addition, when the logical instructions in the above-mentioned memory 730 are implemented in the form of software functional units and sold or used as an independent product, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0093] Exemplary Computer Program Product and Storage Medium

[0094] In addition to the above methods and devices, the multi-motor torque distribution method provided by the embodiments of this specification may also be a computer program product, which includes computer program instructions. When the computer program instructions are run by a processor, the processor is caused to execute the steps in the multi-motor torque distribution method according to various embodiments of this specification described in the "Exemplary Method" section above of this specification.

[0095] The computer program product may be written in any combination of one or more programming languages to write program code for performing the operations of the embodiments of this specification. The programming languages include object-oriented programming languages such as Java, C++, etc., and also include conventional procedural programming languages such as the "C" language or similar programming languages.

[0096] In addition, the embodiments of this specification also provide a computer-readable storage medium, on which a computer program is stored. The computer program is executed by a processor to perform the steps in the multi-motor torque distribution method according to various embodiments of this specification described in the "Exemplary Method" section above of this specification.

[0097] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it may include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the embodiments provided in this specification may include non-volatile and / or volatile memories. Non-volatile memories may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memories may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0098] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0099] The above-described embodiments merely represent several implementation manners of this specification. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the solutions provided by the embodiments of this specification. It should be noted that for those of ordinary skill in the art, without departing from the concept of this specification, several modifications and improvements can still be made, and these all belong to the protection scope of this specification. Therefore, the protection scope of the patent of this specification shall be subject to the appended claims.

Claims

1. A method for distributing the torque of a motor, characterized in that Applied to a vehicle with multiple sets of motors, and the multiple sets of motors provide torque output through a combined gearbox, wherein the torque output direction of at least one set of motors is opposite to the running direction of the vehicle, the method includes: Obtain the vehicle speed information and the required torque of the vehicle; Based on the vehicle speed information and the required torque, determine the output state and torque value of each set of motors when the total motor efficiency is the highest among the multiple sets of motors, and the output state includes torque output and torque recovery; Control each of the motors to operate according to the corresponding output state and torque value.

2. The method according to claim 1, characterized in that, The step of determining the output state and torque value of each set of motors when the total motor efficiency is the highest among the multiple sets of motors based on the vehicle speed information and the required torque includes: For each of the motors, determine the external characteristic curve of the motor according to the motor parameters of the motor; Based on the external characteristic curves of each set of motors, among the multiple sets of output state combinations and multiple sets of torque value combinations that meet the vehicle speed information and the required torque, determine the output state of each set of motors and the torque value of each set of motors when the total motor efficiency is the highest.

3. The method according to claim 1, characterized in that, The step of determining the output state and torque value of each set of motors when the total motor efficiency is the highest among the multiple sets of motors based on the vehicle speed information and the required torque includes: Based on the vehicle speed information, the required torque, and the motor parameters of the motors in each set of motors, query in a pre-generated query table the output state and torque value corresponding to each set of motors when the total motor efficiency is the highest, and the query table is used to record the mapping relationship between the vehicle speed information and the required torque and the output state and torque value.

4. The method according to claim 3, wherein The query table is generated by the following method: List the output state combinations and torque value combinations of each set of motors that meet the current vehicle speed information and the required torque under any vehicle speed information and any required torque; According to the motor parameters of each set of motors, determine the output state and torque value corresponding to each set of motors under the current vehicle speed information and the required torque when the total motor efficiency is the highest, and write the mapping relationship thereof into the query table.

5. The method according to claim 4, characterized in that, The step of determining the output state and torque value corresponding to each set of motors under the current vehicle speed information and the required torque when the total motor efficiency is the highest according to the motor parameters of each set of motors, and writing the mapping relationship thereof into the query table includes: Determine the external characteristic curve of each set of motors according to the motor parameters of each set of motors; Based on the external characteristic curves of each set of motors, determine the target output state and target torque value corresponding to each set of motors when the total motor efficiency is the highest in the output state combination and torque value combination as the output state and torque value corresponding to each set of motors under the current vehicle speed information and the required torque in the query table; Write the mapping relationship between the current vehicle speed information and the required torque and the target output state and the target torque value into the query table.

6. The method according to claim 1, characterized in that, The method further includes: When the torque change value of any motor is greater than the torque threshold, correct the output state and torque value of the motor based on the torque threshold.

7. The method according to claim 1, characterized in that, The motor parameters of the motors in each set of motors are the same.

8. A multi-motor torque distribution device, characterized in that, It includes: An acquisition unit for acquiring the vehicle speed information and the required torque of the vehicle; A determining unit, configured to determine, based on the vehicle speed information and the demanded torque, the output state and torque value of each motor group when the total motor efficiency is the highest among the multiple motor groups, where the output state includes torque output and torque recovery; A processing unit, configured to control each of the motors to operate according to the corresponding output state and torque value.

9. A computer device, characterized in that, Comprising: A memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to execute the multi-motor torque distribution method according to any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that, Computer instructions are stored on the computer-readable storage medium, and the computer instructions are used to cause a computer to execute the multi-motor torque distribution method according to any one of claims 1 to 6.

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