Control method, device and equipment for double-motor electrically-driven bridge heavy truck and medium

Abstract

The invention discloses a control method, device and equipment for a double-motor electric drive axle heavy truck and a medium, and relates to the technical field of vehicle power control. When the double-motor electric drive axle heavy truck is in a running state, vehicle control parameters of a vehicle are obtained; the whole vehicle control parameters comprise the vehicle load, the vehicle speed, the required torque and / or the motor temperature. According to the motor working modes and the parameter ranges corresponding to the different driving modes, the whole vehicle control parameters and the current working mode of the double motors are analyzed, and the target driving mode of the vehicle is determined; the driving mode comprises a dual-motor mode, a single-motor mode and a shutdown mode. And controlling the vehicle according to the target driving mode. The actual power requirement of the vehicle can be known by obtaining the whole vehicle control parameters. Through comprehensive analysis of the whole vehicle control parameters and the current working modes of the double motors, the appropriate target driving mode can be determined, and the economical efficiency, stability and safety of driving of the double-motor electric drive axle heavy truck are guaranteed.

Description

Technical Field

[0001] This application relates to the field of vehicle power control technology, and in particular to a control method, device, equipment and medium for a dual-motor electric drive axle heavy truck. Background Technology

[0002] In the current stage of development of electric drive axle heavy-duty trucks, with customers demanding increasingly stringent requirements for power and smoothness, the driving stability and economy of electric drive axles have become indispensable factors. Dual-motor electric drive axle heavy-duty trucks refer to new energy heavy-duty trucks equipped with a single-axle integrated dual-motor electric drive axle system. By integrating two drive motors within a single drive axle, along with components such as a transmission, differential, and silicon carbide electronic control system, a highly integrated power unit is formed, adaptable to various new energy heavy-duty truck technologies such as pure electric, hybrid, and fuel cell. Dual-motor electric drive axle heavy-duty trucks offer advantages such as ultra-high torque output and strong heavy-load adaptability.

[0003] However, due to factors such as mechanical transmission efficiency, motor efficiency, and related control, dual-motor electric drive axles consume more energy than single-motor electric drive axles. Furthermore, in current dual-motor electric drive axle systems, a failure in one motor can easily lead to a high-voltage fault in the entire vehicle, and the loss of function in critical components such as vehicle power and auxiliary systems like steering and brake assist, severely impacting vehicle stability and overall driving safety.

[0004] It is evident that ensuring the economy, stability, and safety of dual-motor electric drive axle heavy trucks is a problem that needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this application is to provide a control method, device, equipment, and medium for a dual-motor electric drive axle heavy truck, which can ensure the economy, stability, and safety of the dual-motor electric drive axle heavy truck operation.

[0006] This application provides a control method for a dual-motor electric drive axle heavy truck, including:

[0007] When the dual-motor electric drive axle heavy truck is in motion, the vehicle's overall control parameters are acquired; these parameters include vehicle load, vehicle speed, required torque, and / or motor temperature.

[0008] Based on the motor operating mode and parameter range corresponding to different driving modes, the vehicle control parameters and the current operating mode of the dual motors are analyzed to determine the vehicle's target driving mode; among which, the driving modes include dual motor mode, single motor mode and stop mode.

[0009] Control the vehicle according to the target driving mode.

[0010] On the one hand, based on the motor operating modes and parameter ranges corresponding to different driving modes, the vehicle control parameters and the current operating modes of the dual motors are analyzed to determine the vehicle's target driving mode, including:

[0011] If the current operating mode of the dual motors meets the shutdown conditions, disconnect the power transmission of the dual motors and determine the target driving mode of the vehicle as the shutdown mode.

[0012] Under the condition that the vehicle control parameters and the current working mode of the dual motors match the parameter range and motor working mode corresponding to the dual motor mode, the target driving mode of the vehicle is determined to be the dual motor mode.

[0013] If the vehicle control parameters and the current operating mode of the dual motors do not match the parameter range and motor operating mode corresponding to the single motor mode, the target driving mode of the vehicle is determined to be the single motor mode.

[0014] On the one hand, given that the vehicle control parameters and the current operating mode of the dual motors match the parameter range and motor operating mode corresponding to the dual motor mode, the target driving mode of the vehicle is determined to be the dual motor mode, including:

[0015] If the current operating mode of the dual motors meets the torque distribution conditions, adjust the required torque of the dual motors according to the fault level of the dual motors.

[0016] After adjusting the required torque of the dual motors, determine whether the vehicle load, speed, adjusted required torque, and motor temperature are within the parameter range corresponding to the dual motor mode; if the vehicle load, speed, adjusted required torque, and motor temperature are within the parameter range corresponding to the dual motor mode, determine that the target driving mode of the vehicle is the dual motor mode.

[0017] If the current operating mode of the dual motors is normal operation mode, determine whether the vehicle load, vehicle speed, required torque and motor temperature included in the vehicle control parameters are within the parameter range corresponding to the dual motor mode; if the vehicle load, vehicle speed, required torque and motor temperature included in the vehicle control parameters are within the parameter range corresponding to the dual motor mode, determine that the target driving mode of the vehicle is dual motor mode.

[0018] On the one hand, the required torque of the dual motors is adjusted according to their fault levels, including:

[0019] In a dual-motor system, if the first motor has a level 1 fault and the second motor has a level 2 fault, the required torque of the second motor should be reduced and the required torque of the first motor should be increased.

[0020] In a dual-motor system, if both the first and second motors are at level two fault, the required torque for both the first and second motors should be reduced.

[0021] On the one hand, when the vehicle control parameters, including vehicle load, speed, required torque, and motor temperature, fall within the parameter range corresponding to the dual-motor mode, the target driving mode of the vehicle is determined to be the dual-motor mode, including:

[0022] If the vehicle load is greater than the first load value and the vehicle speed is less than the first speed, the target driving mode of the vehicle is determined to be dual-motor mode.

[0023] When the vehicle load is greater than the first load value, the vehicle speed is greater than or equal to the first speed, and the required torque is greater than the first peak torque, the target driving mode of the vehicle is determined to be the dual-motor mode.

[0024] When the vehicle load is greater than the first load value, the vehicle speed is greater than or equal to the first speed, the required torque is less than or equal to the first peak torque, and the motor temperature is greater than the temperature threshold, the target driving mode of the vehicle is determined to be the dual-motor mode.

[0025] When the vehicle load is less than or equal to the first load value and the vehicle speed is less than the second speed, the target driving mode of the vehicle is determined to be dual-motor mode; wherein the second speed is less than the first speed.

[0026] When the vehicle load is less than or equal to the first load value, the vehicle speed is greater than or equal to the second speed, and the required torque is greater than the second peak torque, the target driving mode of the vehicle is determined to be the dual-motor mode; wherein, the second peak torque is greater than the first peak torque.

[0027] When the vehicle load is less than or equal to the first load value, the vehicle speed is greater than or equal to the second speed, the required torque is less than or equal to the second peak torque, and the motor temperature is greater than the temperature threshold, the target driving mode of the vehicle is determined to be the dual-motor mode.

[0028] On the one hand, when the vehicle control parameters and the current operating mode of the dual motors do not match the parameter range and motor operating mode corresponding to the single motor mode, the target driving mode of the vehicle is determined to be the single motor mode, including:

[0029] If the current operating mode of the dual motors meets the operating conditions of the single motor, disconnect the power transmission of the faulty motor and distribute the required torque of the faulty motor to the fault-free motor, and determine the target driving mode of the vehicle as the single motor mode.

[0030] If the current operating mode of the dual motors meets the torque distribution conditions, adjust the required torque of the dual motors according to the fault level of the dual motors.

[0031] After adjusting the required torque for both motors, determine whether the vehicle load, speed, adjusted required torque, and motor temperature are within the parameter range corresponding to the single-motor mode. If the vehicle load, speed, adjusted required torque, and motor temperature are within the parameter range corresponding to the single-motor mode, determine that the target driving mode of the vehicle is the single-motor mode.

[0032] When the current operating mode of the dual motors is normal operation mode, determine whether the vehicle control parameters, including vehicle load, vehicle speed, required torque, and motor temperature, are within the parameter range corresponding to the single motor mode; if the vehicle control parameters, including vehicle load, vehicle speed, required torque, and motor temperature, are within the parameter range corresponding to the single motor mode, determine that the target driving mode of the vehicle is single motor mode.

[0033] On the one hand, when the vehicle control parameters, including vehicle load, speed, required torque, and motor temperature, are within the parameter range corresponding to the single-motor mode, the target driving mode of the vehicle is determined to be the single-motor mode, including:

[0034] When the vehicle load is greater than the first load value, the vehicle speed is greater than or equal to the first speed, the required torque is less than or equal to the first peak torque, and the motor temperature is less than or equal to the temperature threshold, the target driving mode of the vehicle is determined to be single motor mode.

[0035] When the vehicle load is less than or equal to the first load value, the vehicle speed is greater than or equal to the second speed, the required torque is less than or equal to the second peak torque, and the motor temperature is less than or equal to the temperature threshold, the target driving mode of the vehicle is determined to be single motor mode; wherein, the second speed is less than the first speed; and the second peak torque is greater than the first peak torque.

[0036] This application embodiment also provides a control device for a dual-motor electric drive axle heavy truck, including an acquisition unit, an analysis unit, and a control unit;

[0037] The acquisition unit is used to acquire the vehicle's overall control parameters when the dual-motor electric drive axle heavy truck is in motion; the overall control parameters include vehicle load, vehicle speed, required torque and / or motor temperature.

[0038] The analysis unit is used to analyze the vehicle control parameters and the current operating modes of the dual motors according to the motor operating modes and parameter ranges corresponding to different driving modes, and to determine the target driving mode of the vehicle; among which, the driving modes include dual motor mode, single motor mode and stop mode.

[0039] The control unit is used to control the vehicle according to the target driving mode.

[0040] This application also provides an electronic device, including:

[0041] Memory, used to store computer programs;

[0042] A processor is used to execute computer programs to implement the steps of any of the above-described control methods for dual-motor electric drive axle heavy trucks.

[0043] This application also provides a computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, it implements the steps of any of the above-described control methods for dual-motor electric drive axle heavy trucks.

[0044] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of any of the above-described control methods for dual-motor electric drive axle heavy trucks.

[0045] As can be seen from the above technical solution, when the dual-motor electric drive axle heavy truck is in motion, the vehicle's overall control parameters are acquired. These parameters include vehicle load, speed, required torque, and / or motor temperature. Based on the motor operating modes and parameter ranges corresponding to different driving modes, the overall vehicle control parameters and the current operating modes of the dual motors are analyzed to determine the vehicle's target driving mode. Driving modes include dual-motor mode, single-motor mode, and shutdown mode. The vehicle is then controlled according to the target driving mode. In this technical solution, by acquiring the overall vehicle control parameters, the actual power demand of the vehicle can be understood. Based on this actual power demand, the driving mode is determined, ensuring stable vehicle operation while fully utilizing the performance of the dual motors and minimizing their energy consumption, thus guaranteeing the economic efficiency of the dual-motor electric drive axle heavy truck. The current operating mode of the dual motors is also a crucial factor affecting the vehicle's driving stability and safety. Therefore, by comprehensively analyzing the overall vehicle control parameters and the current operating modes of the dual motors, a suitable target driving mode can be determined, thereby controlling the vehicle to drive according to the target driving mode and ensuring the stability and safety of the dual-motor electric drive axle heavy truck. Attached Figure Description

[0046] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 A flowchart illustrating a control method for a dual-motor electric drive axle heavy truck provided in this application embodiment;

[0048] Figure 2A flowchart illustrating driving mode switching based on motor operating mode and vehicle control parameters is provided in this application embodiment.

[0049] Figure 3 This is a schematic diagram of the control device for a dual-motor electric drive axle heavy truck provided in an embodiment of this application. Detailed Implementation

[0050] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this application.

[0051] The terms "comprising" and "having," and any variations thereof, in the specification and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the steps or units listed, but may include steps or units not listed.

[0052] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0053] In typical dual-motor electric drive axle operation, a serious failure in a single motor can cause the entire vehicle to experience a voltage drop, leading to breakdowns and severely impacting operational efficiency and increasing risks. Furthermore, due to different operating scenarios, when the vehicle is unloaded, the motor load rate is low, causing the motor to operate in an inefficient range. This results in significantly higher energy consumption when both motors are operating simultaneously compared to when a single motor is operating.

[0054] Therefore, this application provides a control method, device, equipment, and medium for a dual-motor electric drive axle heavy-duty truck. When the dual-motor electric drive axle heavy-duty truck is in motion, it acquires the vehicle's overall control parameters, including vehicle load, speed, required torque, and / or motor temperature. By acquiring these parameters, the actual power demand of the vehicle can be understood, and the driving mode can be determined based on this demand. This ensures stable vehicle operation while fully utilizing the performance of the dual motors, minimizing their energy consumption and guaranteeing the economic efficiency of the dual-motor electric drive axle heavy-duty truck. The current operating mode of the dual motors is also a crucial factor affecting vehicle stability and safety. Therefore, by comprehensively analyzing the overall vehicle control parameters and the current operating mode of the dual motors, a suitable target driving mode can be determined, allowing the vehicle to operate according to this mode and ensuring the stability and safety of the dual-motor electric drive axle heavy-duty truck. The control method for the dual-motor electric drive axle heavy-duty truck according to this solution addresses the high energy consumption issue of traditional dual-motor systems while retaining their advantages of high power and backup. Based on the current operating mode of the dual motors, efforts are made to ensure that the vehicle can operate normally as much as possible in fault mode.

[0055] Next, a control method for a dual-motor electric drive axle heavy truck provided in the embodiments of this application will be described in detail. Figure 1 A flowchart of a control method for a dual-motor electric drive axle heavy truck provided in this application embodiment, the method including:

[0056] S101: Acquire the vehicle's overall control parameters when the dual-motor electric drive axle heavy truck is in motion.

[0057] Among them, the vehicle control parameters may include vehicle load, vehicle speed, required torque and / or motor temperature.

[0058] The heavier the vehicle load, the greater the torque required, which generally necessitates the use of dual motors.

[0059] The lower the vehicle speed, the more the vehicle is in the starting phase, at which point the demand for torque is higher, and dual motors are generally used.

[0060] If the current required torque exceeds a certain proportion of the peak torque of a single motor, dual motors are generally used.

[0061] If the motor temperature exceeds the temperature threshold, dual motors are generally used.

[0062] In practical applications, a comprehensive analysis can be performed on vehicle load, speed, required torque, and motor temperature to determine the appropriate driving mode for the vehicle.

[0063] In this embodiment, the mode in which both motors operate simultaneously can be referred to as the dual-motor mode, and the mode in which only one motor operates can be referred to as the single-motor mode. When a fault occurs in both motors that requires shutdown, it is necessary to switch to the shutdown mode.

[0064] In practical applications, the vehicle load can be determined by analyzing information such as gradient through the transmission control unit (TCU).

[0065] The vehicle control unit (VCU) is used to analyze the vehicle's overall control parameters.

[0066] S102: Based on the motor operating mode and parameter range corresponding to different driving modes, analyze the vehicle control parameters and the current operating mode of the dual motors to determine the vehicle's target driving mode.

[0067] The driving modes can include dual-motor mode, single-motor mode, and stop mode.

[0068] In this embodiment of the application, when the current working mode of the dual motors meets the shutdown conditions, it is necessary to disconnect the power transmission of the dual motors. At this time, the target driving mode of the vehicle can be determined to be the shutdown mode.

[0069] Shutdown conditions can occur when both motors experience faults requiring shutdown, such as overvoltage, overcurrent, or overspeed. If both motors experience faults requiring shutdown, the power transmission between the two motors can be disconnected, and the entire vehicle must be stopped for inspection and repair.

[0070] When the vehicle control parameters and the current operating mode of the dual motors match the parameter range and motor operating mode corresponding to the dual motor mode, the target driving mode of the vehicle is determined to be the dual motor mode.

[0071] The parameter range corresponding to the dual-motor mode can include the parameter ranges corresponding to vehicle load, vehicle speed, required torque, and motor temperature.

[0072] In dual-motor mode, both motors need to be in normal operating mode, or be able to operate normally by adjusting the torque distribution.

[0073] If the vehicle control parameters and the current operating mode of the dual motors do not match the parameter range and motor operating mode corresponding to the single motor mode, the target driving mode of the vehicle is determined to be the single motor mode.

[0074] The parameter range for single-motor mode can include the respective parameter ranges for vehicle load, vehicle speed, required torque, and motor temperature. In single-motor mode, it is only necessary to ensure that the single motor can operate normally.

[0075] S103: Control the vehicle according to the target driving mode.

[0076] Once the target driving mode is determined, the vehicle drives in accordance with the target driving mode.

[0077] As can be seen from the above technical solution, when the dual-motor electric drive axle heavy truck is in motion, the vehicle's overall control parameters are acquired. These parameters include vehicle load, speed, required torque, and / or motor temperature. Based on the motor operating modes and parameter ranges corresponding to different driving modes, the overall vehicle control parameters and the current operating modes of the dual motors are analyzed to determine the vehicle's target driving mode. Driving modes include dual-motor mode, single-motor mode, and shutdown mode. The vehicle is then controlled according to the target driving mode. In this technical solution, by acquiring the overall vehicle control parameters, the actual power demand of the vehicle can be understood. Based on this actual power demand, the driving mode is determined, ensuring stable vehicle operation while fully utilizing the performance of the dual motors and minimizing their energy consumption, thus guaranteeing the economic efficiency of the dual-motor electric drive axle heavy truck. The current operating mode of the dual motors is also a crucial factor affecting the vehicle's driving stability and safety. Therefore, by comprehensively analyzing the overall vehicle control parameters and the current operating modes of the dual motors, a suitable target driving mode can be determined, thereby controlling the vehicle to drive according to the target driving mode and ensuring the stability and safety of the dual-motor electric drive axle heavy truck.

[0078] For dual motors, there may be a fault mode. There are multiple levels of fault modes. For easy differentiation, a fault that requires the motor to be stopped can be called a level 3 fault, and a fault that allows the motor to continue operating normally after reducing its power can be called a level 2 fault.

[0079] In practical applications, when the controller detects faults such as motor overload, high voltage, or short circuit, it will report a level two fault, thus limiting the motor power. When the controller detects faults such as excessive voltage, overcurrent, or overspeed, it will report a level three fault. Level three faults require the motor to be stopped for handling.

[0080] In dual-motor mode, both motors need to be able to work normally. This includes two situations: one is that both motors are originally in normal operating mode, and the other is that both motors are in normal operating mode by adjusting their torque.

[0081] In this embodiment of the application, when the current operating mode of the dual motors meets the torque distribution conditions, the required torque of the dual motors is adjusted according to the fault level of the dual motors.

[0082] After adjusting the required torque for both motors, determine whether the vehicle load, speed, adjusted required torque, and motor temperature are within the parameter range corresponding to the dual-motor mode. If the vehicle load, speed, adjusted required torque, and motor temperature are within the parameter range corresponding to the dual-motor mode, determine that the vehicle's target driving mode is the dual-motor mode.

[0083] Meeting the torque distribution condition means that at least one of the two motors has a level two fault.

[0084] In practical applications, when one of the dual motors experiences a level-two fault, the VCU (Vehicle Control Unit) adjusts its torque allocation, reducing torque for the faulty motor and increasing torque for the unfaulty motor to ensure the vehicle's overall driving performance. When both motors experience level-two faults, the VCU reduces its torque requirement, decreasing the torque of each motor to slow the vehicle down.

[0085] The torque adjustment can be preset with a certain ratio or value. For example, when the motor has a level 2 fault, the torque can be reduced to half of the original torque.

[0086] If the current operating mode of the dual motors is normal operation mode, determine whether the vehicle load, vehicle speed, required torque and motor temperature included in the vehicle control parameters are within the parameter range corresponding to the dual motor mode; if the vehicle load, vehicle speed, required torque and motor temperature included in the vehicle control parameters are within the parameter range corresponding to the dual motor mode, determine that the target driving mode of the vehicle is dual motor mode.

[0087] In the embodiments of this application, different fault levels can be classified according to different operating modes of the motor. For example, normal operation mode is a level 1 fault, power reduction operation is a level 2 fault, and shutdown is a level 3 fault.

[0088] For ease of distinction, the two motors included in the dual-motor system can be referred to as the first motor and the second motor, respectively.

[0089] In a dual-motor system, if the first motor has a level 1 fault and the second motor has a level 2 fault, reduce the required torque of the second motor and increase the required torque of the first motor. Conversely, if both the first and second motors have a level 2 fault, reduce the required torque of both motors.

[0090] There are no restrictions on how the required torque is adjusted. For example, if the first motor has a level 1 fault and the second motor has a level 2 fault, the required torque of the second motor can be reduced to half of its original required torque, and the reduced required torque from the second motor can be added to the first motor. In a dual-motor system, if both the first and second motors have a level 2 fault, the required torque of both the first and second motors can be reduced to half of their original required torque.

[0091] When the motor is in a level two fault, the required torque is reduced, which limits the power of the motor and thus ensures the normal operation of the motor.

[0092] Taking the vehicle control parameters, including vehicle load, vehicle speed, required torque, and motor temperature, as an example, when identifying the parameter range of each type of parameter, it is possible to determine whether each parameter is within the parameter range corresponding to the dual-motor mode.

[0093] Regarding the order of parameter evaluation, the last step is to determine whether the motor temperature falls within the temperature range corresponding to the dual-motor mode. There is no specific order for evaluating vehicle load, speed, and required torque.

[0094] If the vehicle load is greater than the first load value and the vehicle speed is less than the first speed, it indicates that the vehicle is heavily loaded and in the starting phase, requiring a large torque. In this case, both motors need to work simultaneously, and the target driving mode of the vehicle can be determined to be the dual-motor mode.

[0095] The first load capacity can be flexibly set according to the vehicle's rated load capacity. For example, the first load capacity can be set to 20T. The first speed can be set to 30KM / h.

[0096] If the vehicle load is greater than the first load value, the vehicle speed is greater than or equal to the first speed, and the required torque is greater than the first peak torque, it indicates that a single motor may not be able to meet the vehicle's power requirements. In this case, the target driving mode of the vehicle can be determined to be the dual-motor mode.

[0097] The first peak torque can be 70% of the peak torque of a single motor.

[0098] When the vehicle load is greater than the first load value, the vehicle speed is greater than or equal to the first speed, the required torque is less than or equal to the first peak torque, and the motor temperature is greater than the temperature threshold, the motor temperature is too high. In this case, it is necessary to use two motors to work simultaneously to reduce the heat generated by a single motor. Under these circumstances, the target driving mode of the vehicle can be determined to be the dual-motor mode.

[0099] The temperature threshold can be the over-temperature threshold of the motor, which is related to the motor characteristics and is generally around 150℃.

[0100] When the vehicle load is less than or equal to the first load value and the vehicle speed is less than the second speed, the target driving mode of the vehicle is determined to be the dual-motor mode; wherein the second speed is less than the first speed.

[0101] The second speed can be set to 10 km / h.

[0102] When the vehicle load is less than or equal to the first load value, the vehicle speed is greater than or equal to the second speed, and the required torque is greater than the second peak torque, the target driving mode of the vehicle is determined to be the dual-motor mode; wherein, the second peak torque is greater than the first peak torque.

[0103] The second peak torque can be 90% of the peak torque of a single motor.

[0104] When the vehicle load is less than or equal to the first load value, the vehicle speed is greater than or equal to the second speed, the required torque is less than or equal to the second peak torque, and the motor temperature is greater than the temperature threshold, the target driving mode of the vehicle is determined to be the dual-motor mode.

[0105] The above describes the parameter ranges corresponding to each parameter in dual-motor mode. The parameter ranges corresponding to each parameter in single-motor mode are exactly the opposite of those in dual-motor mode.

[0106] In single-motor mode, it is only necessary to ensure that at least one motor can work properly.

[0107] In this embodiment, when the current operating mode of the dual motors meets the operating conditions of the single motor, the power transmission of the faulty motor is disconnected, and the required torque of the faulty motor is distributed to the fault-free motor, thus determining the target driving mode of the vehicle as the single motor mode.

[0108] Single-motor operation refers to a situation where only one motor is in normal operating mode.

[0109] If the current operating mode of the dual motors meets the torque distribution conditions, the required torque of the dual motors is adjusted according to the fault level of the dual motors.

[0110] After adjusting the required torque for both motors, determine whether the vehicle load, speed, adjusted required torque, and motor temperature are within the parameter range corresponding to the single-motor mode. If the vehicle load, speed, adjusted required torque, and motor temperature are within the parameter range corresponding to the single-motor mode, determine that the target driving mode of the vehicle is the single-motor mode.

[0111] When the current operating mode of the dual motors is normal operation mode, determine whether the vehicle control parameters, including vehicle load, vehicle speed, required torque, and motor temperature, are within the parameter range corresponding to the single motor mode; if the vehicle control parameters, including vehicle load, vehicle speed, required torque, and motor temperature, are within the parameter range corresponding to the single motor mode, determine that the target driving mode of the vehicle is single motor mode.

[0112] In practical applications, when the vehicle load is greater than the first load value, the vehicle speed is greater than or equal to the first speed, the required torque is less than or equal to the first peak torque, and the motor temperature is less than or equal to the temperature threshold, the target driving mode of the vehicle is determined to be single motor mode.

[0113] When the vehicle load is less than or equal to the first load value, the vehicle speed is greater than or equal to the second speed, the required torque is less than or equal to the second peak torque, and the motor temperature is less than or equal to the temperature threshold, the target driving mode of the vehicle is determined to be single motor mode; wherein, the second speed is less than the first speed; and the second peak torque is greater than the first peak torque.

[0114] Figure 2 This application provides a flowchart illustrating driving mode switching based on motor operating mode and vehicle control parameters. Figure 2 The example given is that the vehicle load, speed, required torque, and motor temperature are determined sequentially.

[0115] When both motors are in fault mode, the system determines whether the fault is level two or level three. For level two faults, torque distribution is required. When one motor experiences a level two fault, the VCU requests torque distribution, reducing torque for the faulty motor and increasing torque for the healthy motor to maintain overall vehicle driving performance. When both motors experience level two faults, the VCU requests torque reduction, causing the vehicle to decelerate. For level three faults, the motors must be shut down. If one motor experiences a level three fault, it indicates a single-motor fault; in this case, power transmission to the faulty motor can be disconnected, and the VCU will allocate all torque to the healthy motor to ensure normal vehicle operation. When both motors experience level three faults, it indicates a dual-motor fault; in this case, power transmission to both motors must be disconnected, and the vehicle must be stopped for inspection and repair.

[0116] When a single-axle dual-motor vehicle is in motion, the TCU identifies the vehicle's load based on information such as the gradient. If the vehicle weight is greater than 20T, the VCU determines that the vehicle speed is less than 30KM / h and the vehicle then operates in single-axle dual-motor mode.

[0117] When a single-axle dual-motor vehicle is in operation, if the vehicle weight is greater than 20T and the vehicle speed is greater than or equal to 30KM / h, the VCU currently requests torque greater than 70% of the peak torque of a single motor, and the vehicle operates in single-axle dual-motor mode.

[0118] When a single-axle dual-motor vehicle is in operation, if the vehicle weight is greater than 20T, and the vehicle speed is greater than or equal to 30KM / h, the VCU currently requests torque less than or equal to 70% of the peak torque of a single motor. It then checks whether the motor temperature exceeds the motor over-temperature threshold. If it does, the vehicle operates in single-axle dual-motor mode.

[0119] When a single-axle dual-motor vehicle is in operation, if the vehicle weight is greater than 20T, and the vehicle speed is greater than or equal to 30KM / h, the VCU currently requests torque less than or equal to 70% of the peak torque of a single motor. It then checks whether the motor temperature exceeds the motor over-temperature threshold. If the motor temperature does not exceed the motor over-temperature threshold, the vehicle operates in single-axle single-motor mode.

[0120] When a single-axle dual-motor vehicle is in operation, if the vehicle weight is less than or equal to 20T, it is determined whether the vehicle speed is less than 10KM / H. If it is less than 10KM / H, it is driven in dual-motor electric drive axle mode.

[0121] When a single-axle dual-motor vehicle is in operation, if the vehicle weight is less than or equal to 20T, it is determined whether the vehicle speed is less than 10KM / H. If it is greater than or equal to 10KM / H, and the VCU currently requests a torque greater than 90% of the peak torque of a single motor, then it will drive in dual-motor electric drive axle mode.

[0122] When a single-axle dual-motor vehicle is in operation, if the vehicle weight is less than or equal to 20T, it determines whether the vehicle speed is less than 10KM / H. If it is greater than or equal to 10KM / H, the VCU currently requests torque less than or equal to 90% of the peak torque of a single motor. It then determines whether the motor temperature exceeds the motor over-temperature threshold. If it exceeds the motor over-temperature threshold, the vehicle operates in single-axle dual-motor mode.

[0123] When a single-axle dual-motor vehicle is in operation, if the vehicle weight is less than or equal to 20T, it is determined whether the vehicle speed is less than 10KM / H. If it is greater than or equal to 10KM / H, the VCU currently requests torque less than or equal to 90% of the peak torque of a single motor. It is then determined whether the motor temperature exceeds the motor over-temperature threshold. If it does not exceed the motor over-temperature threshold, the vehicle operates in single-axle single-motor mode.

[0124] The dual-motor electric drive axle achieves stability and economy control during vehicle operation by switching between single and dual motors and distributing torque under motor failure modes. This ensures the vehicle's economy under no-load, heavy-load, high and low speed, different torque requirements, and motor temperature conditions, while also guaranteeing the safety and stability of the entire vehicle.

[0125] Figure 3 A schematic diagram of the structure of a control device for a dual-motor electric drive axle heavy truck provided in an embodiment of this application includes an acquisition unit 31, an analysis unit 32, and a control unit 33;

[0126] The acquisition unit 31 is used to acquire the vehicle's overall control parameters when the dual-motor electric drive axle heavy truck is in motion; wherein, the vehicle control parameters include vehicle load, vehicle speed, required torque and / or motor temperature;

[0127] Analysis unit 32 is used to analyze the vehicle control parameters and the current working mode of the dual motors according to the motor working mode and parameter range corresponding to different driving modes, and determine the target driving mode of the vehicle; wherein, the driving mode includes dual motor mode, single motor mode and stop mode;

[0128] Control unit 33 is used to control the vehicle according to the target driving mode.

[0129] In some embodiments, the analysis unit includes a first determination subunit, a second determination subunit, and a third determination subunit;

[0130] The first determining subunit is used to disconnect the power transmission of the dual motors when the current operating mode of the dual motors meets the shutdown conditions, and to determine the target driving mode of the vehicle as the shutdown mode.

[0131] The second determining subunit is used to determine the target driving mode of the vehicle as dual-motor mode when the vehicle control parameters and the current working mode of the dual motors match the parameter range and motor working mode corresponding to the dual-motor mode.

[0132] The third determining subunit is used to determine the target driving mode of the vehicle as single-motor mode when the vehicle control parameters and the current working mode of the dual motors do not match the parameter range and motor working mode corresponding to the single-motor mode.

[0133] In some embodiments, the second determining subunit is configured to adjust the required torque of the dual motors according to the fault level of the dual motors, provided that the current operating mode of the dual motors meets the torque distribution conditions.

[0134] After adjusting the required torque of the dual motors, determine whether the vehicle load, speed, adjusted required torque, and motor temperature are within the parameter range corresponding to the dual motor mode; if the vehicle load, speed, adjusted required torque, and motor temperature are within the parameter range corresponding to the dual motor mode, determine that the target driving mode of the vehicle is the dual motor mode.

[0135] If the current operating mode of the dual motors is normal operation mode, determine whether the vehicle load, vehicle speed, required torque and motor temperature included in the vehicle control parameters are within the parameter range corresponding to the dual motor mode; if the vehicle load, vehicle speed, required torque and motor temperature included in the vehicle control parameters are within the parameter range corresponding to the dual motor mode, determine that the target driving mode of the vehicle is dual motor mode.

[0136] In some embodiments, the second determining subunit is configured to reduce the required torque of the second motor and increase the required torque of the first motor when the fault level of the first motor is a level one fault and the fault level of the second motor is a level two fault in the dual motors.

[0137] In a dual-motor system, if both the first and second motors are at level two fault, the required torque for both the first and second motors should be reduced.

[0138] In some embodiments, the second determining subunit is configured to determine that the target driving mode of the vehicle is a dual-motor mode when the vehicle load is greater than the first load value and the vehicle speed is less than the first speed.

[0139] When the vehicle load is greater than the first load value, the vehicle speed is greater than or equal to the first speed, and the required torque is greater than the first peak torque, the target driving mode of the vehicle is determined to be the dual-motor mode.

[0140] When the vehicle load is greater than the first load value, the vehicle speed is greater than or equal to the first speed, the required torque is less than or equal to the first peak torque, and the motor temperature is greater than the temperature threshold, the target driving mode of the vehicle is determined to be the dual-motor mode.

[0141] When the vehicle load is less than or equal to the first load value and the vehicle speed is less than the second speed, the target driving mode of the vehicle is determined to be dual-motor mode; wherein the second speed is less than the first speed.

[0142] When the vehicle load is less than or equal to the first load value, the vehicle speed is greater than or equal to the second speed, and the required torque is greater than the second peak torque, the target driving mode of the vehicle is determined to be the dual-motor mode; wherein, the second peak torque is greater than the first peak torque.

[0143] When the vehicle load is less than or equal to the first load value, the vehicle speed is greater than or equal to the second speed, the required torque is less than or equal to the second peak torque, and the motor temperature is greater than the temperature threshold, the target driving mode of the vehicle is determined to be the dual-motor mode.

[0144] In some embodiments, the third determining subunit is used to disconnect the power transmission of the faulty motor and distribute the required torque of the faulty motor to the fault-free motor when the current operating mode of the dual motors meets the operating conditions of the single motor, thereby determining the target driving mode of the vehicle as the single motor mode.

[0145] If the current operating mode of the dual motors meets the torque distribution conditions, adjust the required torque of the dual motors according to the fault level of the dual motors.

[0146] After adjusting the required torque for both motors, determine whether the vehicle load, speed, adjusted required torque, and motor temperature are within the parameter range corresponding to the single-motor mode. If the vehicle load, speed, adjusted required torque, and motor temperature are within the parameter range corresponding to the single-motor mode, determine that the target driving mode of the vehicle is the single-motor mode.

[0147] When the current operating mode of the dual motors is normal operation mode, determine whether the vehicle control parameters, including vehicle load, vehicle speed, required torque, and motor temperature, are within the parameter range corresponding to the single motor mode; if the vehicle control parameters, including vehicle load, vehicle speed, required torque, and motor temperature, are within the parameter range corresponding to the single motor mode, determine that the target driving mode of the vehicle is single motor mode.

[0148] In some embodiments, the third determining subunit is used to determine that the target driving mode of the vehicle is a single motor mode when the vehicle load is greater than a first load value, the vehicle speed is greater than or equal to a first speed, the required torque is less than or equal to a first peak torque, and the motor temperature is less than or equal to a temperature threshold.

[0149] When the vehicle load is less than or equal to the first load value, the vehicle speed is greater than or equal to the second speed, the required torque is less than or equal to the second peak torque, and the motor temperature is less than or equal to the temperature threshold, the target driving mode of the vehicle is determined to be single motor mode; wherein, the second speed is less than the first speed; and the second peak torque is greater than the first peak torque.

[0150] Figure 3 For a description of the features in the corresponding embodiments, please refer to Figure 1 The relevant descriptions of the corresponding embodiments will not be repeated here.

[0151] As can be seen from the above technical solution, when the dual-motor electric drive axle heavy truck is in motion, the vehicle's overall control parameters are acquired. These parameters include vehicle load, speed, required torque, and / or motor temperature. Based on the motor operating modes and parameter ranges corresponding to different driving modes, the overall vehicle control parameters and the current operating modes of the dual motors are analyzed to determine the vehicle's target driving mode. Driving modes include dual-motor mode, single-motor mode, and shutdown mode. The vehicle is then controlled according to the target driving mode. In this technical solution, by acquiring the overall vehicle control parameters, the actual power demand of the vehicle can be understood. Based on this actual power demand, the driving mode is determined, ensuring stable vehicle operation while fully utilizing the performance of the dual motors and minimizing their energy consumption, thus guaranteeing the economic efficiency of the dual-motor electric drive axle heavy truck. The current operating mode of the dual motors is also a crucial factor affecting the vehicle's driving stability and safety. Therefore, by comprehensively analyzing the overall vehicle control parameters and the current operating modes of the dual motors, a suitable target driving mode can be determined, thereby controlling the vehicle to drive according to the target driving mode and ensuring the stability and safety of the dual-motor electric drive axle heavy truck.

[0152] Embodiments of this application also provide an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the steps in any of the above embodiments of the control method for a dual-motor electric drive axle heavy truck.

[0153] Embodiments of this application also provide a computer-readable storage medium storing a computer program, wherein the computer program is configured to execute the steps in any of the above embodiments of the control method for a dual-motor electric drive axle heavy truck when it is run.

[0154] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard disk, magnetic disk, or optical disk.

[0155] The embodiments of this application also provide a computer program product, which includes a computer program that, when executed by a processor, implements the steps in any of the above embodiments of the control method for a dual-motor electric drive axle heavy truck.

[0156] Embodiments of this application also provide another computer program product, including a non-volatile computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps in any of the above embodiments of the control method for a dual-motor electric drive axle heavy truck.

[0157] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0158] The control method, apparatus, electronic device, computer-readable storage medium, and computer program product for a dual-motor electric drive axle heavy-duty truck provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only intended to help understand the method and core ideas of this application. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of this application.

Claims

1. A control method of a dual-motor electric drive axle heavy truck, characterized in that, include: When the dual-motor electric drive axle heavy truck is in motion, the vehicle's overall control parameters are acquired; wherein, the vehicle control parameters include vehicle load, vehicle speed, required torque and / or motor temperature; Based on the motor operating modes and parameter ranges corresponding to different driving modes, the vehicle control parameters and the current operating modes of the dual motors are analyzed to determine the target driving mode of the vehicle; wherein, the driving mode includes dual motor mode, single motor mode and shutdown mode; Control the vehicle according to the target driving mode.

2. The control method of the dual-motor electric drive axle heavy-duty truck according to claim 1, characterized in that, Based on the motor operating modes and parameter ranges corresponding to different driving modes, the vehicle control parameters and the current operating modes of the dual motors are analyzed to determine the vehicle's target driving mode, including: If the current operating mode of the dual motors meets the shutdown conditions, disconnect the power transmission of the dual motors and determine the target driving mode of the vehicle as the shutdown mode. When the vehicle control parameters and the current operating mode of the dual motors match the parameter range and motor operating mode corresponding to the dual motor mode, the target driving mode of the vehicle is determined to be the dual motor mode. If the vehicle control parameters and the current operating mode of the dual motors do not match the parameter range and motor operating mode corresponding to the single motor mode, the target driving mode of the vehicle is determined to be the single motor mode.

3. The control method of the dual-motor electric drive axle heavy-duty truck according to claim 2, characterized in that, When the vehicle control parameters and the current operating mode of the dual motors match the parameter range and motor operating mode corresponding to the dual motor mode, the target driving mode of the vehicle is determined to be the dual motor mode, including: If the current operating mode of the dual motors meets the torque distribution conditions, adjust the required torque of the dual motors according to the fault level of the dual motors. After adjusting the required torque of the dual motors, it is determined whether the vehicle load, vehicle speed, adjusted required torque, and motor temperature are within the parameter range corresponding to the dual motor mode; if the vehicle load, vehicle speed, adjusted required torque, and motor temperature are within the parameter range corresponding to the dual motor mode, the target driving mode of the vehicle is determined to be the dual motor mode. When the current operating mode of the dual motors is normal operation mode, it is determined whether the vehicle load, vehicle speed, required torque and motor temperature included in the vehicle control parameters are within the parameter range corresponding to the dual motor mode; if the vehicle load, vehicle speed, required torque and motor temperature included in the vehicle control parameters are within the parameter range corresponding to the dual motor mode, the target driving mode of the vehicle is determined to be dual motor mode.

4. The control method of the dual-motor electric drive axle heavy-duty truck according to claim 3, characterized in that, Adjust the required torque of the dual motors according to their fault levels, including: In a dual-motor system, if the first motor has a level 1 fault and the second motor has a level 2 fault, the required torque of the second motor should be reduced, and the required torque of the first motor should be increased. In a dual-motor system where both the first and second motors are at level two fault, the required torque for both the first and second motors is reduced.

5. The control method of the dual-motor electric drive axle heavy-duty truck according to claim 3, characterized in that, In a case where the vehicle load, the vehicle speed, the demand torque and the motor temperature included in the whole vehicle control parameter are in the parameter range corresponding to the dual-motor mode, the target driving mode of the vehicle is determined as the dual-motor mode, comprising: In a case where the vehicle load is greater than the first load value and the vehicle speed is less than the first speed, the target driving mode of the vehicle is determined as the dual-motor mode; In a case where the vehicle load is greater than the first load value, the vehicle speed is greater than or equal to the first speed, and the demand torque is greater than the first peak torque, the target driving mode of the vehicle is determined as the dual-motor mode; In a case where the vehicle load is greater than the first load value, the vehicle speed is greater than or equal to the first speed, the demand torque is less than or equal to the first peak torque, and the motor temperature is greater than the temperature threshold, the target driving mode of the vehicle is determined as the dual-motor mode; In a case where the vehicle load is less than or equal to the first load value and the vehicle speed is less than the second speed, the target driving mode of the vehicle is determined as the dual-motor mode; wherein the second speed is less than the first speed; In a case where the vehicle load is less than or equal to the first load value, the vehicle speed is greater than or equal to the second speed, and the demand torque is greater than the second peak torque, the target driving mode of the vehicle is determined as the dual-motor mode; wherein the second peak torque is greater than the first peak torque; In a case where the vehicle load is less than or equal to the first load value, the vehicle speed is greater than or equal to the second speed, the demand torque is less than or equal to the second peak torque, and the motor temperature is greater than the temperature threshold, the target driving mode of the vehicle is determined as the dual-motor mode.

6. The control method of the dual-motor electric drive axle heavy-duty truck according to claim 2, characterized in that, In a case where the whole vehicle control parameter and the current working mode of the dual-motor do not match the parameter range corresponding to the single-motor mode and the motor working mode, the target driving mode of the vehicle is determined as the single-motor mode, comprising: In a case where the current working mode of the dual-motor meets the single-motor running condition, the power transmission of the faulty motor is disconnected, the demand torque of the faulty motor is distributed to the non-faulty motor, and the target driving mode of the vehicle is determined as the single-motor mode; In a case where the current working mode of the dual-motor meets the torque distribution condition, the demand torque of the dual-motor is adjusted according to the fault level of the dual-motor; After the adjustment of the demand torque of the dual-motor is completed, it is judged whether the vehicle load, the vehicle speed, the adjusted demand torque and the motor temperature are in the parameter range corresponding to the single-motor mode; in a case where the vehicle load, the vehicle speed, the adjusted demand torque and the motor temperature are in the parameter range corresponding to the single-motor mode, the target driving mode of the vehicle is determined as the single-motor mode; In a case where the current working mode of the dual-motor is the normal running mode, it is judged whether the vehicle load, the vehicle speed, the demand torque and the motor temperature included in the whole vehicle control parameter are in the parameter range corresponding to the single-motor mode; in a case where the vehicle load, the vehicle speed, the demand torque and the motor temperature included in the whole vehicle control parameter are in the parameter range corresponding to the single-motor mode, the target driving mode of the vehicle is determined as the single-motor mode.

7. The control method of the dual-motor electric drive axle heavy-duty truck according to claim 6, characterized in that, In a case where the vehicle load, the vehicle speed, the required torque and the motor temperature included in the whole vehicle control parameter are in the parameter range corresponding to the single motor mode, the target driving mode of the vehicle is determined as the single motor mode, comprising: In a case where the vehicle load is greater than a first load value, the vehicle speed is greater than or equal to a first speed, the required torque is less than or equal to a first peak torque, and the motor temperature is less than or equal to a temperature threshold, the target driving mode of the vehicle is determined as the single motor mode; In a case where the vehicle load is less than or equal to a first load value, the vehicle speed is greater than or equal to a second speed, the required torque is less than or equal to a second peak torque, and the motor temperature is less than or equal to a temperature threshold, the target driving mode of the vehicle is determined as the single motor mode; wherein the second speed is less than the first speed, and the second peak torque is greater than the first peak torque.

8. A control device of a dual-motor electric drive axle heavy truck, characterized in that, comprising an acquisition unit, an analysis unit and a control unit; The acquisition unit is configured to acquire the whole vehicle control parameter of the vehicle in a case where the double motor electric drive axle heavy truck is in a driving state; wherein the whole vehicle control parameter comprises a vehicle load, a vehicle speed, a required torque and / or a motor temperature; The analysis unit is configured to analyze the whole vehicle control parameter and the current working mode of the double motor according to the motor working mode and the parameter range corresponding to different driving modes, and determine the target driving mode of the vehicle; wherein the driving mode comprises a double motor mode, a single motor mode and a shutdown mode; The control unit is configured to control the vehicle according to the target driving mode.

9. An electronic device, comprising: comprising: a memory for storing a computer program; a processor for executing the computer program to implement the steps of the control method of the double motor electric drive axle heavy truck according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, wherein the computer program is executed by the processor to implement the steps of the control method of the double motor electric drive axle heavy truck according to any one of claims 1 to 7.

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