Power distribution method and power distribution device of four-motor assembly

Abstract

The invention relates to the technical field of motor control, and provides a power distribution method and device for a four-motor assembly, and the method comprises the steps: obtaining the actual output torque of each motor of a current frame and a total torque request of the four-motor assembly; calculating a required torque increment according to the total torque request and the actual output torque; calculating the slope of the optimal efficiency of each motor to the torque according to the motor efficiency map; calculating the internal torque adjusting amount of each motor according to the priority sequence of the motors and the slope; according to the actual output torque, the required torque increment and the internal torque adjusting amount of each motor, the next frame of torque to be distributed of each motor is calculated, and power distribution is conducted on the four motors. Therefore, the motor torque is continuously optimized and independently controlled in a mode of deriving the torque by utilizing the optimal efficiency of each motor, the efficiency of the whole motor system is improved, the optimization process is small in calculation amount, high in convergence speed and accurate in convergence result, and the method is suitable for various application scenes.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, specifically to a power distribution method and power distribution device for a four-motor assembly. Background Technology

[0002] The electrification of construction machinery is a major trend under the energy transition, and electric mining trucks or range-extended mining trucks are being rapidly promoted due to their superior performance and energy-saving effects. Given the heavy loads, low speeds, and harsh road conditions encountered in mining scenarios, electric mining trucks or range-extended mining trucks typically employ multi-motor coordinated control in their drive systems to meet their power and safety performance requirements.

[0003] In related technologies, the power distribution for multiple motors generally adopts a torque-equal distribution method. This method cannot achieve differentiated torque adjustment for each wheel, which easily leads to long-term low-load operation of the motors. For example, when an electric mining truck is driving empty or cruising on a smooth road, the total torque demand is low. Torque equal distribution means that each motor only outputs less than 25% of the torque. However, the efficiency of the motor is extremely low under low torque conditions. Even if no torque is output, copper and iron losses will still occur. This "small horse pulling a small cart" mode will cause a lot of energy waste. On the other hand, due to the influence of manufacturing process, wear and tear, etc., the actual efficiency of the four motors varies. The fixed mode of torque equal distribution ignores this difference and forces the inefficient motor and the efficient motor to bear the same torque, which makes it impossible for each motor to adapt to its own efficient range, further reducing the overall energy efficiency of the vehicle. Summary of the Invention

[0004] To solve the above-mentioned technical problems, the first objective of this invention is to propose a power distribution method for a four-motor assembly.

[0005] The second objective of this invention is to provide a power distribution device for a four-motor assembly.

[0006] The technical solution adopted in this invention is as follows:

[0007] An embodiment of the first aspect of the present invention proposes a power distribution method for a four-motor assembly, comprising the following steps: obtaining the actual output torque of each motor in the current frame and the total torque request of the four-motor assembly; calculating the required torque increment of the four-motor assembly based on the total torque request and the actual output torque of each motor; calculating the slope of the optimal efficiency of each motor in the current frame relative to torque based on a motor efficiency map; obtaining the motor priority order, and calculating the internal torque adjustment amount of each motor in the current frame based on the motor priority order and the slope of the optimal efficiency of each motor relative to torque; calculating the torque to be allocated to each motor in the next frame based on the actual output torque of each motor in the current frame, the required torque increment, and the internal torque adjustment amount of each motor in the current frame; and distributing power to the four motors based on the torque to be allocated in the next frame.

[0008] The power distribution method for the four-motor assembly proposed in this invention may also have the following additional technical features:

[0009] According to one embodiment of the present invention, calculating the internal torque adjustment of each motor in the current frame based on the motor priority order and the slope of the optimal efficiency versus torque for each motor specifically includes: sorting the motors in descending order of the slope of the optimal efficiency versus torque, wherein if there are motors with the same slope of optimal efficiency versus torque, then sorting the motors according to the motor priority order; and assigning the internal torque adjustment of the first-ranked motor as a positive torque change unit calibrated quantity T. step The internal torque adjustment of the fourth-ranked motor is assigned the value of the negative torque change unit calibration value - T. step The internal torque adjustment value of other motors is set to 0.

[0010] According to an embodiment of the present invention, the power distribution method of the above-mentioned four-motor assembly further includes: setting multiple motor priority sequences and storing them in a set order; when the actual total output torque of the motor is 0 and continues for a set frame, switching the motor priority sequence according to the set order.

[0011] According to one embodiment of the present invention, the torque to be allocated to each motor in the next frame is specifically calculated according to the following formula:

[0012] ;

[0013] ;

[0014] in, This represents the torque of motor i in frame (n+1). This represents the actual output torque of motor i in frame n, where i = 1, 2, 3, 4, and n is a positive integer. This represents the increase in required torque for the four-motor assembly in frame n. This represents the internal torque adjustment of motor i in frame n. This represents the total torque request for the four-motor assembly in frame n.

[0015] According to one embodiment of the present invention, the slope of the optimal efficiency of each motor in the current frame relative to torque is calculated based on the motor efficiency map, specifically including: obtaining the motor speed in the current frame; finding the optimal efficiency and corresponding torque of the motor at the current frame speed according to the motor efficiency map; and calculating the slope of the optimal efficiency at the corresponding torque as the slope of the optimal efficiency of the motor in the current frame relative to torque.

[0016] A second aspect of the present invention provides a power distribution device for a four-motor assembly, comprising: an acquisition module for acquiring the actual output torque of each motor in the current frame and the total torque request of the four-motor assembly; a first calculation module for calculating the required torque increment of the four-motor assembly based on the total torque request and the actual output torque of each motor; a second calculation module for calculating the slope of the optimal efficiency of each motor against torque in the current frame based on a motor efficiency map; a third calculation module for acquiring the motor priority order and calculating the internal torque adjustment of each motor in the current frame based on the motor priority order and the slope of the optimal efficiency against torque of each motor; a fourth calculation module for calculating the torque to be allocated to each motor in the next frame based on the actual output torque of each motor in the current frame, the required torque increment, and the internal torque adjustment of each motor in the current frame; and an allocation module for distributing power to the four motors based on the torque to be allocated in the next frame.

[0017] The power distribution device of the four-motor assembly described above in this invention also has the following additional technical features:

[0018] According to one embodiment of the present invention, the third calculation module is specifically used to: sort the motors in descending order of the slope of the optimal efficiency versus torque, wherein if there are motors with the same slope of the optimal efficiency versus torque, then sort the motors according to motor priority; and assign the internal torque adjustment amount of the first-ranked motor to the positive torque change unit calibration value T. step The internal torque adjustment of the fourth-ranked motor is assigned the value of the negative torque change unit calibration value - T. step The internal torque adjustment value of other motors is set to 0.

[0019] According to an embodiment of the present invention, the power distribution device of the above-mentioned four-motor assembly further includes: a switching module, the switching module being specifically used for: setting multiple motor priority sequences and storing them in a set order; when the actual total output torque of the motor is 0 and continues for a set frame, switching the motor priority sequence according to the set order.

[0020] According to one embodiment of the present invention, the fourth calculation module specifically calculates the torque to be allocated to each motor in the next frame according to the following formula:

[0021] ;

[0022] ;

[0023] in, This represents the torque of motor i in frame (n+1). This represents the actual output torque of motor i in frame n, where i = 1, 2, 3, 4, and n is a positive integer. This represents the increase in required torque for the four-motor assembly in frame n. This represents the internal torque adjustment of motor i in frame n. This represents the total torque request for the four-motor assembly in frame n.

[0024] According to one embodiment of the present invention, the second calculation module is specifically used to: obtain the current frame speed of the motor; find the optimal efficiency and corresponding torque of the motor at the current frame speed based on the motor efficiency map; calculate the slope of the optimal efficiency at the corresponding torque as the slope of the optimal efficiency of the motor at the current frame to the torque.

[0025] The beneficial effects of this invention are:

[0026] By using the derivative of torque with the optimal efficiency of each motor, the motor torque is continuously optimized and controlled individually, which improves the efficiency of the entire motor system. Moreover, the optimization process has low computational load, fast convergence speed and accurate convergence results, and is suitable for various application scenarios.

[0027] A strategy for switching motor priority order is designed to prevent the same motor from being prioritized by default after each power outage and restart, which would increase the load on that motor and solve the problem of rapid wear and short lifespan of a single motor. Attached Figure Description

[0028] Figure 1 This is a flowchart of a power distribution method for a four-motor assembly according to an embodiment of the present invention;

[0029] Figure 2 This is a schematic diagram of the structure of a four-motor assembly according to an embodiment of the present invention;

[0030] Figure 3 This is a block diagram of a power distribution device for a four-motor assembly according to an embodiment of the present invention. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] Figure 1 This is a flowchart of a power distribution method for a four-motor assembly according to an embodiment of the present invention. The structure of the four-motor assembly can be found in [reference needed]. Figure 2As shown, it includes four motors, namely motor 1, motor 2, motor 3 and motor 4. The motor output shaft is connected to the gear of the reducer input shaft to achieve speed reduction and torque increase. The total torque is output by one reducer output shaft.

[0033] like Figure 1 As shown, the power distribution method for a four-motor assembly according to an embodiment of the present invention includes the following steps S1-S6:

[0034] S1, Obtain the actual output torque of each motor in the current frame. Total torque requirement of the four-motor assembly .

[0035] Specifically, in the current frame n, the actual output torque of the four motors They are respectively , , , The total torque request of the four-motor assembly obtained by the vehicle controller or motor controller. It can be calculated based on the accelerator pedal and / or brake pedal signals.

[0036] S2, based on total torque request and the actual output torque of each motor Calculate the required torque increment of the four-motor assembly .

[0037] Specifically, the increase in demand torque Defined as the current total torque demand Subtract the current total actual output torque, specifically calculated using the following formula:

[0038] ;

[0039] in, This represents the actual output torque of motor i in frame n, where i = 1, 2, 3, 4, and n is a positive integer. This represents the increase in required torque for the four-motor assembly in frame n. This represents the total torque request for the four-motor assembly in frame n.

[0040] S3, Calculate the slope k of the current frame's optimal efficiency with respect to torque for each motor based on the motor efficiency map. in .

[0041] Furthermore, based on the motor efficiency map, the slope k of the current frame's optimal efficiency with respect to torque is calculated for each motor. inSpecifically, this includes: obtaining the motor's current frame speed; finding the optimal efficiency and corresponding torque of the motor at the current frame speed based on the motor efficiency map; and calculating the slope of the optimal efficiency at the corresponding torque, which is used as the slope k of the motor's current frame optimal efficiency with respect to torque. in .

[0042] Specifically, the current motor speed is obtained. Based on the motor efficiency map, the optimal efficiency and corresponding torque of the motor at the current frame speed are found. The slope of the optimal efficiency with respect to the corresponding torque is calculated and used as the slope of the optimal efficiency with respect to torque in the current frame. For example, for motor 1, the slope of its optimal efficiency with respect to torque in the current frame is... , This represents the optimal efficiency of motor 1 at the current frame speed. Let be the torque corresponding to the optimal efficiency of motor 1 at the current frame speed. Similarly, the slope k of the optimal efficiency of motors 2, 3, and 4 in the current frame with respect to torque can be calculated. 2n k 3n and k 4n .

[0043] S4, Obtain the motor priority order, and calculate the slope k of torque based on the motor priority order and the optimal efficiency of each motor. in Calculate the internal torque adjustment of each motor in the current frame. .

[0044] Specifically, the motor priority order is pre-stored. For example, the motor priorities from high to low are: motor 1, motor 2, motor 3, motor 4.

[0045] In one specific embodiment of the present invention, the slope k of torque is determined according to the motor priority order and the optimal efficiency of each motor. in Calculate the internal torque adjustment of each motor in the current frame. Specifically, this includes: the slope k of torque based on optimal efficiency. in The motors are sorted in descending order of efficiency. If motors with the same slope for optimal efficiency versus torque exist, they are then sorted according to their priority. The internal torque adjustment of the motor ranked first is then determined. The value assigned is the positive torque variation unit calibrated quantity T. step The internal torque adjustment of the fourth-ranked motor Assigned value: negative torque variation unit calibration value -T step The internal torque adjustment value of other motors is set to 0. step Set the parameters in advance according to the motor parameters.

[0046] Specifically, the slope k of the calculated optimal efficiency of motors 1, 2, 3, and 4 with respect to torque. 1n k2n k 3n k 4n Sort by size, and assign the internal torque adjustment value of the motor ranked first to the positive torque change unit calibrated value T. step The internal torque adjustment of the fourth-ranked motor is assigned the value of the negative torque variation unit calibration value -T. step The internal torque adjustment of other motors is set to 0. If there are slopes of the same magnitude, they are sorted according to the pre-stored motor priority order.

[0047] For example, if the motor priority order is: motor 1, motor 2, motor 3, motor 4, the calculated k 1n k 2n k 3n k 4n If all motors are the same size, then the order of the motors is: Motor 1, Motor 2, Motor 3, Motor 4. Therefore: =T step , =0, =0, =-T step ;

[0048] If k 2n >k 1n =k 3n =k 4n The motor order is: Motor 2, Motor 1, Motor 3, Motor 4. Therefore: =T step , =0, =0, =-T step ;

[0049] If k 1n =k 2n =k 3n <k 4n The motor sequence is: Motor 4, Motor 1, Motor 2, Motor 3. Therefore: =T step , =0, =0, =-T step ;

[0050] In summary, the motors are sorted first based on the slope of the torque based on the optimal efficiency. Motors with the same slope are then sorted according to their stored priority order.

[0051] S5, based on the actual output torque of each motor in the current frame, the required torque increment, and the internal torque adjustment of each motor in the current frame, calculate the torque to be allocated to each motor in the next frame.

[0052] According to one embodiment of the present invention, the torque to be allocated to each motor in the next frame is specifically calculated according to the following formula:

[0053] ;

[0054] ;

[0055] in, This represents the torque of motor i in frame (n+1). This represents the actual output torque of motor i in frame n, where i = 1, 2, 3, 4, and n is a positive integer. This represents the increase in required torque for the four-motor assembly in frame n. This represents the internal torque adjustment of motor i in frame n. This represents the total torque request for the four-motor assembly in frame n.

[0056] S6, based on the torque to be allocated in the next frame Power is distributed to the four motors.

[0057] Specifically, based on the calculated torque to be allocated in the next frame Power is distributed to four motors, and continuous optimization and individual control are performed through calculations in each frame, which improves the efficiency of the entire motor system. The optimization process has low computational load, fast convergence speed and accurate convergence results, making it suitable for various application scenarios.

[0058] The torque distribution method itself does not have a priority order, but when calculating the internal torque adjustment, it depends on the set motor priority order. If the motor priority order is motor 1, motor 2, motor 3, motor 4, then each time it starts, motor 1 has the highest priority and motor 4 has the lowest priority. Each time it starts, motor 1 will increase torque and motor 4 will decrease torque by default, which will cause motor 1 to always be subjected to more force, thus making motor 1 wear more than other motors.

[0059] To avoid the problem of individual motors wearing out quickly and having a short lifespan, a motor priority switching strategy is designed based on the power distribution method of the four-motor assembly mentioned above.

[0060] According to an embodiment of the present invention, the power distribution method of the above-mentioned four-motor assembly may further include: setting multiple motor priority sequences and storing them in a set order; when the actual total output torque of the motor is 0 and continues for a set frame, switching the motor priority sequence in a set order.

[0061] Specifically, multiple different motor priority sequences can be set in advance. For example, up to 24 motor priority sequences can be set for four motors, or 16, 12, 8, 4, etc. can be set according to actual needs.

[0062] For example, the following four motor priority order schemes can be set:

[0063] Case 1: Motor 1, Motor 2, Motor 3, Motor 4;

[0064] Case 2: Motor 2, Motor 3, Motor 4, Motor 1;

[0065] Case 3: Motor 3, Motor 4, Motor 1, Motor 2;

[0066] Case 4: Motor 4, Motor 1, Motor 2, Motor 3.

[0067] The priority order of the four motors is: Case 1-Case 2-Case 3-Case 4.

[0068] Set switching conditions; when the actual total output torque of the four motors... When the value is 0 for 100 consecutive frames, the vehicle containing the motor is considered to be in a stopped state. When the switching state bit is set from 0 to 1, the motor priority order is switched. The initial motor priority order uses Case 1, and the actual total output torque of the four motors is detected. When the value is 0 and remains so for 100 frames, the motor priority order is switched to Case 2; when the switching condition is met, the motor priority order is switched to Case 3; when the switching condition is met, the motor priority order is switched to Case 4; when the switching condition is met, the motor priority order is switched back to Case 1, and so on. Therefore, this strategy of switching motor priority order prevents the same motor from being prioritized by default after each power outage and restart, thus avoiding increasing the load on that motor and solving the problem of rapid wear and short lifespan of a single motor. Furthermore, the switching algorithm uses static switching, effectively avoiding driving safety and handling issues caused by real-time switching.

[0069] In this invention, in addition to the motor priority switching strategy based on the pre-stored order described above, other methods can also be used, such as using pseudo-random numbers to determine the initial motor torque allocation upon power-up based on the clock signal, so as to prevent the same motor from being prioritized by default after each power outage and restart.

[0070] In summary, the power distribution method for the four-motor assembly according to the embodiments of the present invention continuously optimizes and individually controls the motor torque by taking the derivative of the torque with the optimal efficiency of each motor, thereby improving the efficiency of the entire motor system. Moreover, the optimization process has low computational load, fast convergence speed, and accurate convergence results, making it suitable for various application scenarios. Furthermore, a strategy for switching the motor priority order is designed to prevent the same motor from being prioritized by default after each power outage and restart, which would increase the load on that motor and solve the problem of rapid wear and short lifespan of a single motor.

[0071] Corresponding to the power distribution method of the four-motor assembly described above, the present invention also proposes a power distribution device for a four-motor assembly.

[0072] Figure 3 This is a block diagram of a power distribution device for a four-motor assembly according to an embodiment of the present invention, as shown below. Figure 3 As shown, the power distribution device of the four-motor assembly includes: an acquisition module 100, a first calculation module 200, a second calculation module 300, a third calculation module 400, a fourth calculation module 500, and a distribution module 600.

[0073] The four motors are configured as follows: The acquisition module 100 acquires the actual output torque of each motor in the current frame and the total torque request of the four-motor assembly; the first calculation module 200 calculates the required torque increment of the four-motor assembly based on the total torque request and the actual output torque of each motor; the second calculation module 300 calculates the slope of the optimal efficiency of each motor in the current frame relative to torque based on the motor efficiency map; the third calculation module 400 acquires the motor priority order and calculates the internal torque adjustment of each motor in the current frame based on the motor priority order and the slope of the optimal efficiency of each motor relative to torque; the fourth calculation module 500 calculates the torque to be allocated to each motor in the next frame based on the actual output torque of each motor in the current frame, the required torque increment, and the internal torque adjustment of each motor in the current frame; and the allocation module 600 allocates power to the four motors based on the torque to be allocated in the next frame.

[0074] According to one embodiment of the present invention, the third calculation module 400 is specifically used to: sort the motors according to the slope of the optimal efficiency versus torque from largest to smallest, wherein if there are motors with the same slope of optimal efficiency versus torque, then sort the motors according to motor priority order; and assign the internal torque adjustment amount of the first-ranked motor to the positive torque change unit calibrated quantity T. step The internal torque adjustment of the fourth-ranked motor is assigned the value of the negative torque variation unit calibration value -T. step The internal torque adjustment value of other motors is set to 0.

[0075] According to an embodiment of the present invention, the power distribution device of the above-mentioned four-motor assembly further includes: a switching module, which is specifically used to: set multiple motor priority sequences and store them in a set order; when the actual total output torque of the motor is 0 and the set frame continues, switch the motor priority sequence in a set order.

[0076] According to one embodiment of the present invention, the fourth calculation module 500 specifically calculates the torque to be allocated to each motor in the next frame according to the following formula:

[0077] ;

[0078] ;

[0079] in, This represents the torque of motor i in frame (n+1). This represents the actual output torque of motor i in frame n, where i = 1, 2, 3, 4, and n is a positive integer. This represents the increase in required torque for the four-motor assembly in frame n. This represents the internal torque adjustment of motor i in frame n. This represents the total torque request for the four-motor assembly in frame n.

[0080] According to one embodiment of the present invention, the second calculation module 300 is specifically used to: obtain the current frame speed of the motor; find the optimal efficiency and corresponding torque of the motor at the current frame speed based on the motor efficiency map; calculate the slope of the optimal efficiency at the corresponding torque as the slope of the optimal efficiency of the motor at the current frame to the torque.

[0081] In summary, the power distribution device for the four-motor assembly according to the embodiments of the present invention continuously optimizes and individually controls the motor torque by taking the derivative of the torque with the optimal efficiency of each motor, thereby improving the efficiency of the entire motor system. Moreover, the optimization process has low computational load, fast convergence speed, and accurate convergence results, making it suitable for various application scenarios. A strategy for switching the motor priority order is designed to prevent the same motor from being prioritized by default after each power failure and restart, which would increase the load on that motor and solve the problem of rapid wear and short lifespan of a single motor.

[0082] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0083] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0084] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of the invention pertain.

[0085] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware, and the program can be stored in a computer-readable storage medium. When executed, the program includes one or a combination of the steps of the method embodiments.

[0086] Furthermore, the functional units in the various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0087] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A power distribution method for a four-motor assembly, characterized in that, Includes the following steps: Get the actual output torque of each motor in the current frame and the total torque request of the four-motor assembly; Calculate the required torque increment for the four-motor assembly based on the total torque request and the actual output torque of each motor; Calculate the slope of the current frame's optimal efficiency against torque for each motor based on the motor efficiency map; Obtain the motor priority order, and calculate the internal torque adjustment of each motor in the current frame based on the motor priority order and the slope of the optimal efficiency of each motor against torque. Based on the actual output torque of each motor in the current frame, the required torque increment, and the internal torque adjustment of each motor in the current frame, calculate the torque to be allocated to each motor in the next frame. The power is distributed to the four motors according to the torque to be allocated in the next frame.

2. The power distribution method for the four-motor assembly according to claim 1, characterized in that, The internal torque adjustment of each motor in the current frame is calculated based on the motor priority order and the slope of the optimal efficiency of each motor relative to torque, specifically including: The motors are sorted in descending order of the slope of the optimal efficiency versus torque. If there are motors with the same slope of optimal efficiency versus torque, they are sorted according to their priority. The internal torque adjustment of the motor ranked first is assigned a value of T, which is the calibration value of the positive torque change unit. step The internal torque adjustment of the fourth-ranked motor is assigned the value of the negative torque change unit calibration value - T. step The internal torque adjustment value of other motors is set to 0.

3. The power distribution method for the four-motor assembly according to claim 1, characterized in that, Also includes: Set multiple motor priority sequences and store them in the set order; When the actual total output torque of the motor is 0 and continues for a set frame, the motor priority order is switched according to the set order.

4. The power distribution method for the four-motor assembly according to claim 1, characterized in that, Specifically, the torque to be allocated to each motor in the next frame is calculated according to the following formula: ； ； in, This represents the torque of motor i in frame (n+1). This represents the actual output torque of motor i in frame n, where i = 1, 2, 3, 4, and n is a positive integer. This represents the increase in required torque for the four-motor assembly in frame n. This represents the internal torque adjustment of motor i in frame n. This represents the total torque request for the four-motor assembly in frame n.

5. The power distribution method for the four-motor assembly according to claim 1, characterized in that, Calculate the slope of the current frame's optimal efficiency versus torque for each motor based on the motor efficiency map, specifically including: Get the motor's current frame speed; Based on the motor efficiency map, find the optimal efficiency and corresponding torque of the motor at the current frame speed; The slope of the optimal efficiency at the corresponding torque is calculated and used as the slope of the optimal efficiency of the motor with respect to torque in the current frame.

6. A power distribution device for a four-motor assembly, characterized in that, include: The acquisition module is used to acquire the actual output torque of each motor and the total torque request of the four-motor assembly in the current frame; The first calculation module is used to calculate the required torque increment of the four-motor assembly based on the total torque request and the actual output torque of each motor. The second calculation module is used to calculate the slope of the current frame's optimal efficiency against torque for each motor based on the motor efficiency map. The third calculation module is used to obtain the motor priority order and calculate the internal torque adjustment of each motor in the current frame based on the motor priority order and the slope of the optimal efficiency of each motor against the torque. The fourth calculation module is used to calculate the torque to be allocated to each motor in the next frame based on the actual output torque of each motor in the current frame, the required torque increment, and the internal torque adjustment of each motor in the current frame. The allocation module is used to allocate power to the four motors according to the torque to be allocated in the next frame.

7. The power distribution device for the four-motor assembly according to claim 6, characterized in that, The third calculation module is specifically used for: The motors are sorted in descending order of the slope of the optimal efficiency versus torque. If there are motors with the same slope of optimal efficiency versus torque, they are sorted according to their priority. The internal torque adjustment of the motor ranked first is assigned a value of T, which is the calibration value of the positive torque change unit. step The internal torque adjustment of the fourth-ranked motor is assigned the value of the negative torque change unit calibration value - T. step The internal torque adjustment value of other motors is set to 0.

8. The power distribution device for the four-motor assembly according to claim 6, characterized in that, Also includes: The switching module is specifically used for: Set multiple motor priority sequences and store them in the set order; When the actual total output torque of the motor is 0 and continues for a set frame, the motor priority order is switched according to the set order.

9. The power distribution device for the four-motor assembly according to claim 6, characterized in that, The fourth calculation module specifically calculates the torque to be allocated to each motor in the next frame according to the following formula: ； ； in, This represents the torque of motor i in frame (n+1). This represents the actual output torque of motor i in frame n, where i = 1, 2, 3, 4, and n is a positive integer. This represents the increase in required torque for the four-motor assembly in frame n. This represents the internal torque adjustment of motor i in frame n. This represents the total torque request for the four-motor assembly in frame n.

10. The power distribution device for the four-motor assembly according to claim 6, characterized in that, The second calculation module is specifically used for: Get the motor's current frame speed; Based on the motor efficiency map, find the optimal efficiency and corresponding torque of the motor at the current frame speed; The slope of the optimal efficiency at the corresponding torque is calculated and used as the slope of the optimal efficiency of the motor with respect to torque in the current frame.

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