Motor failure processing method, device, equipment and medium

Abstract

The invention provides a motor failure processing method and device, equipment and a medium, and relates to the technical field of electric vehicles. The method comprises the following steps: acquiring first operation data of a plurality of motors of a vehicle; judging whether a failure motor exists in the plurality of motors based on the first operation data; if there is a failed motor in the plurality of motors, obtaining second operation data of the failed motor, and determining a failure degree of the failed motor based on the first operation data and the second operation data; limiting the maximum output torque of the failed motor based on the failure degree; and if the maximum output torque of the failed motor is limited, the actual output torque of the failed motor is reduced, and the output torque of the non-failed motor in the multiple motors is distributed based on the yaw moment loss of the failed motor and the total demand torque of the vehicle. According to the motor failure processing method, device and equipment and the medium provided by the invention, the purpose that the output torque of the motor can still meet the vehicle stability and dynamic property requirements after the motor fails can be achieved.

Description

Technical Field

[0001] This application relates to the field of electric vehicle technology, and in particular to a method, apparatus, device and medium for handling motor failure. Background Technology

[0002] With the development of electric vehicle technology, multi-motor drive architectures (such as three-motor and four-motor systems) have been widely used in high-performance electric vehicles and special vehicles due to their advantages of fast power response and high control precision. However, as the number of motors in a multi-motor architecture increases, the probability of motor failure also increases. If one or more motors fail and are not detected and controlled in time, it can lead to a decrease in vehicle power, loss of driving stability, and even safety accidents.

[0003] In existing technologies, motor failure detection often relies on a single parameter (such as torque deviation), resulting in low detection accuracy and susceptibility to interference. After failure assessment, methods typically employ simple torque averaging or direct downgrading to two-wheel drive mode, failing to balance vehicle stability and power requirements. Therefore, a method is urgently needed that can accurately detect motor failures in real time and efficiently transfer torque to address the shortcomings of existing technologies. Summary of the Invention

[0004] This application provides a method, apparatus, device, and medium for handling motor failure, which solves the defect in the torque distribution strategy after motor failure in the prior art that cannot take into account both vehicle stability and power requirements, and achieves the purpose that the output torque of the motor can still meet the vehicle stability and power requirements after motor failure.

[0005] In a first aspect, this application provides a method for handling motor failures, including: Acquire the initial operating data of multiple motors in the vehicle; Based on the first operating data, determine whether there is a failed motor among the plurality of motors; If the failed motor is among the plurality of motors, the second operating data of the failed motor is obtained, and the degree of failure of the failed motor is determined based on the first operating data and the second operating data; The maximum output torque of the failed motor is limited based on the degree of failure. If the maximum output torque of the failed motor is limited, the actual output torque of the failed motor decreases. Based on the yaw torque loss of the failed motor and the total torque demand of the vehicle, the output torque of the non-failed motors among the multiple motors is allocated.

[0006] Optionally, the step of allocating the output torque of the non-failed motors among the plurality of motors based on the yaw moment loss of the failed motor and the total required torque of the vehicle includes: The compensation torque of the compensation motor is determined based on the yaw moment loss; the compensation motor is one of the motors that have not failed, and the compensation motor maintains the yaw stability of the vehicle after the failure of the failed motor by using the compensation torque; The output torque of the non-failed motor is allocated based on the total required torque and the compensation torque.

[0007] Optionally, determining the compensation torque of the compensation motor based on the yaw moment loss includes: Obtain the actual decrease in output torque after the maximum output torque of the failed motor is limited; Based on the actual output torque reduction value and the first lateral distance, the yaw moment loss is determined; the first lateral distance is the lateral distance between the tire where the failed motor is located and the vehicle's center of gravity. The compensation torque is determined based on the yaw moment loss and the second lateral distance; the second lateral distance is the lateral distance between the tire where the compensation motor is located and the vehicle's center of gravity.

[0008] Optionally, allocating the output torque of the non-failed motor based on the total required torque and the compensation torque includes: Obtain the actual output torque of the plurality of motors and the rated torque of the non-failed motors; The power shortage torque of the vehicle is determined based on the total required torque, the compensation torque, and the actual output torque of the plurality of motors. Based on the compensation torque, the rated torque of the non-failed motor, and the actual output torque of the non-failed motor, the remaining torque capacity of the non-failed motor is determined; If the sum of the remaining torque capacities of the non-failed motors is greater than or equal to the power gap torque, the output torque of the non-failed motors is allocated based on the compensation torque, the power gap torque, and the remaining torque capacity of the non-failed motors.

[0009] Optionally, the first operating data includes three-phase current, speed, torque response delay, and motor temperature; The step of determining whether there is a failed motor among the plurality of motors based on the first operating data includes: Based on the three-phase current, speed, torque response delay, and motor temperature of the multiple motors, a failure warning value for the multiple motors is determined; If the failure warning value of a target motor among the plurality of motors is greater than the warning threshold, the target motor is determined to be faulty and is designated as the faulty motor.

[0010] Optionally, determining the failure warning value for the plurality of motors based on the three-phase current, the speed, the torque response delay, and the motor temperature includes: Calculate the first deviation rate of the three-phase current of the plurality of motors from a preset three-phase current reference range, the second deviation rate of the speed of the plurality of motors from a preset speed fluctuation reference range, the third deviation rate of the torque response delay of the plurality of motors from a preset torque response delay reference value, and the temperature drift of the motor temperature of the plurality of motors from a preset temperature range. Based on the first deviation rate, the second deviation rate, and the third deviation rate of the plurality of motors, the failure target value of the plurality of motors is determined; Based on the temperature drift of the plurality of motors, the failure weight values ​​of the plurality of motors are determined; Based on the failure target value and the failure weight value of the plurality of motors, the failure warning value of the plurality of motors is determined.

[0011] Optionally, the second operational data includes the operational status of the communication link; The determination of the failure degree of the failed motor based on the first operating data and the second operating data includes: Based on the first operating data, the failure warning value of the failed motor is determined; The degree of failure is determined based on the magnitude of the failure warning value of the failed motor, the temperature drift of the motor temperature from the preset temperature range, and the operating status of the communication link.

[0012] Secondly, this application also provides a motor failure handling device, comprising: The acquisition module is used to acquire the initial operating data of multiple motors in the vehicle; The judgment module is used to determine whether there is a failed motor among the plurality of motors based on the first operating data; The determination module is used to, if there is a failed motor among the plurality of motors, acquire second operating data of the failed motor, and determine the degree of failure of the failed motor based on the first operating data and the second operating data; A limiting module is used to limit the maximum output torque of the failed motor based on the degree of failure. The allocation module is used to allocate the output torque of the non-failed motors among the plurality of motors based on the reference yaw moment and the total required torque of the vehicle when the maximum output torque of the failed motor is limited and the actual output torque of the failed motor decreases; the reference yaw moment is used to maintain the yaw stability of the vehicle.

[0013] Thirdly, this application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method described in the first aspect.

[0014] Fourthly, this application also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in the first aspect.

[0015] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the method described in the first aspect.

[0016] The motor failure handling method, apparatus, equipment, and medium provided in this application determine the existence and degree of failure of a motor by analyzing the vehicle motor's operating data. When the maximum output torque of the failed motor is limited, causing a decrease in its actual output torque, the output torque of the unfailed motor is allocated based on the yaw torque loss of the failed motor and the total torque demand of the vehicle. The motor failure status can be detected in real time through motor operating data, and the torque of the unfailed motor can be evenly allocated after motor failure, taking into account both the vehicle's yaw stability and power requirements. This ensures vehicle driving safety and power performance, and improves user experience. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is one of the flowcharts illustrating the motor failure handling method provided in the embodiments of this application; Figure 2 This is a second schematic flowchart of the motor failure handling method provided in the embodiments of this application; Figure 3 This is a schematic diagram of the structure of the motor failure handling device provided in the embodiments of this application; Figure 4 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions 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, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0020] This application provides a method for handling motor failures, the execution subject of which can be an electronic device, such as a controller. The following description uses a controller as the execution subject of the method. Figure 1 This is one of the flowcharts illustrating the motor failure handling method provided in this application. (Refer to...) Figure 1 The method may include: Step 110: Obtain the first operating data of the vehicle's multiple motors; Step 120: Determine whether there is a failed motor among the multiple motors based on the first operating data; Step 130: If there is a failed motor among the multiple motors, obtain the second operating data of the failed motor, and determine the degree of failure of the failed motor based on the first operating data and the second operating data; Step 140: Limit the maximum output torque of the failed motor based on the degree of failure; Step 150: If the maximum output torque of the failed motor is limited, the actual output torque of the failed motor will decrease. Based on the yaw torque loss of the failed motor and the total torque demand of the vehicle, the output torque of the non-failed motors among the multiple motors will be allocated.

[0021] The motor failure handling method provided in this application determines the existence and degree of failure of a motor by analyzing the vehicle motor's operating data. When the maximum output torque of the failed motor is limited, causing a decrease in its actual output torque, the method allocates the output torque of the non-failed motor based on the yaw torque loss of the failed motor and the total torque demand of the vehicle. The method can detect the motor's failure status in real time through motor operating data and balance the torque distribution of the non-failed motor after motor failure by taking into account both the vehicle's yaw stability and power requirements. This ensures vehicle driving safety and power performance and improves user experience.

[0022] In some embodiments, the output torque of the non-failed motors among multiple motors is allocated based on the yaw torque loss of the failed motor and the total required torque of the vehicle, including: determining the compensation torque of the compensation motor based on the yaw torque loss; the compensation motor is one of the non-failed motors, and the compensation motor maintains the yaw stability of the vehicle after the failure of the failed motor by compensating for the torque; and allocating the output torque of the non-failed motors based on the total required torque and the compensation torque.

[0023] Furthermore, in some embodiments, determining the compensation torque of the compensation motor based on the yaw moment loss includes: obtaining the actual output torque reduction value after the maximum output torque of the failed motor is limited; determining the yaw moment loss based on the actual output torque reduction value and a first lateral distance; the first lateral distance is the lateral distance between the tire where the failed motor is located and the vehicle's center of gravity; and determining the compensation torque based on the yaw moment loss and a second lateral distance; the second lateral distance is the lateral distance between the tire where the compensation motor is located and the vehicle's center of gravity.

[0024] Furthermore, in some embodiments, the output torque of the non-failed motors is allocated based on the total demand torque and the compensation torque, including: obtaining the actual output torque of multiple motors and the rated torque of the non-failed motors; determining the power gap torque of the vehicle based on the total demand torque, the compensation torque, and the actual output torque of the multiple motors; determining the remaining torque capacity of the non-failed motors based on the compensation torque, the rated torque of the non-failed motors, and the actual output torque of the non-failed motors; and if the sum of the remaining torque capacities of the non-failed motors is greater than or equal to the power gap torque, the output torque of the non-failed motors is allocated based on the compensation torque, the power gap torque, and the remaining torque capacity of the non-failed motors.

[0025] The controller can allocate torque to the remaining normal motors through a hierarchical torque transfer control module based on the failure level of the failed motor and the current driving status of the vehicle. First, the yaw moment loss of the failed motor is calculated, and torque is preferentially allocated to the normal motors diagonally opposite or on the same side as the failed motor to offset the yaw moment deviation caused by the failed motor. For example, if the left front wheel motor fails completely, the torque of the right rear wheel motor is preferentially increased to offset the deviation, maintain yaw stability, and reduce the risk of vehicle yaw.

[0026] Assume the failed motor is the first The motor, whose actual output torque before failure was [missing information]. Corresponding tire force for:

[0027] After failure, the actual output torque of the failed motor drops to Tire force loss of the wheel where the failed motor is located :

[0028] Yaw moment loss of a failed motor for:

[0029] in, This represents the actual decrease in output torque of the failed motor. For wheel diameter, This is the lateral distance between the tire containing the failed motor and the vehicle's center of gravity (positive or negative values ​​for left / right wheels).

[0030] The minimum yaw moment that needs to be compensated to maintain yaw stability. ,Right now:

[0031] When the vehicle has four motors, if the failed motor is a single front wheel motor (such as the left front wheel): the diagonal rear wheel motor (right rear wheel) should be selected as the compensation motor first (the lateral distance d is the largest, and the yaw torque compensation efficiency is the highest under the same torque); if the failed motor is a single rear wheel motor (such as the right rear wheel): the diagonal front wheel motor (left front wheel) should be selected as the compensation motor first.

[0032] Compensating torque of the compensating motor satisfy:

[0033] Right now:

[0034] in, For wheel diameter, To compensate for the lateral distance between the tire where the motor is located and the vehicle's center of gravity (positive or negative values ​​for left / right wheels).

[0035] Limitation: The compensated motor torque shall not exceed 110% of its rated torque after compensation (to avoid overload).

[0036] When the vehicle has three motors (a single inter-axle motor on the front axle), if the failed motor is the inter-axle motor on the front axle: select the motors on both sides of the rear axle as compensation motors and distribute the compensation torque evenly; if the failed motor is a single motor on the rear axle: select the inter-axle motor on the front axle as compensation motor and distribute the compensation torque according to the above formula.

[0037] Then, based on the vehicle's current accelerator pedal opening and vehicle speed, determine the vehicle's total torque demand, calculate the torque shortfall, and distribute the remaining torque to the undamaged motors to ensure that the actual output torque of the undamaged motors does not exceed 110% of their rated torque, thus avoiding motor overload.

[0038] After compensating for torque distribution, calculate the vehicle's current total power demand based on the accelerator pedal opening. (0~100%), combined with the vehicle's power characteristic curve, determine the total torque demand. ( (This is the sum of the rated torques of all motors).

[0039] The sum of the compensation torque of the statistical compensation motor and the actual output torque of all motors. :

[0040] in, The compensation torque is the sum of the actual output torque of the uncompensated motor in the non-failed motor group and the actual output torque of the compensated motor in the non-failed motor group. This represents the actual output torque of the failed motor.

[0041] Vehicle power shortage torque : (If ΔT≤0, then no further explanation is needed).

[0042] Then allocate the gap torque according to the "remaining capacity ratio".

[0043] Calculate the remaining torque capacity of each non-failed motor:

[0044] in, Let j be the remaining torque capacity of the j-th unceasing motor. Let be the rated torque of the j-th non-failed motor. When the j-th non-failed motor is not a compensated motor, This represents the actual output torque of the motor. When the j-th non-failed motor is a compensation motor, The compensation torque is added to compensate for the actual output torque of the motor.

[0045] If the sum of the remaining torque capacity of the non-failed motors is greater than or equal to the power shortage torque, calculate the allocation ratio for each non-failed motor:

[0046] in, Let j be the torque distribution ratio for the j-th non-failed motor. Let j be the remaining torque capacity of the j-th unceasing motor. This is the sum of the remaining torque capacity of all non-failed motors.

[0047] Distribute the output torque of the undamaged motor:

[0048] in, The torque is distributed to the j-th motor that has not failed.

[0049] Ultimately, the output torque of each surviving motor : (Compensation torque only exists when the non-failed motor is a compensated motor) ) When the rated torque of the non-failed motor cannot meet the power gap, the maximum vehicle speed limit can be reduced (e.g., from 120km / h to 80km / h) to prioritize the power performance of the vehicle at low speeds and meet the needs of urban roads or emergency driving.

[0050] When multiple motors fail, the yaw torque losses of the failed motors are first superimposed, and the compensation torque is calculated uniformly. Then, based on yaw stability, the power gap is allocated according to the remaining torque capacity of the surviving motors. Taking "complete failure of both left front and right rear motors" as an example (four-motor vehicle), the detailed steps are as follows: Yaw torque loss due to left front wheel failure and motor failure: ( This refers to the tire force loss of the left front wheel where the left front motor is located. (This is the lateral distance between the left front wheel and the vehicle's center of gravity, taken as a negative value) Yaw torque loss due to right rear wheel failure and motor failure: ( This refers to the tire force loss of the right rear wheel where the right rear motor is located. (This is the lateral distance between the right rear wheel and the vehicle's center of gravity, taken as a positive value) Total yaw moment loss of the failed motor:

[0051] Select the right front wheel and left rear wheel as the compensation motors (diagonally opposite the failed motor), and distribute the compensation torque according to the lateral distance ratio:

[0052]

[0053] in, This is the compensation torque for the right front motor. For wheel diameter, This is the lateral distance between the right front motor and the vehicle's center of gravity (positive or negative values ​​for left / right wheels). This is the lateral distance between the left rear motor and the vehicle's center of gravity (positive or negative values ​​for left / right wheels). This is the compensation torque for the left rear motor.

[0054] Ensure that the torque of the right front wheel and left rear wheel after compensation does not exceed 110% of the rated torque.

[0055] The allocation process of the dynamic gap is as follows: Calculate total dynamic demand After statistical compensation, the allocated torque to obtain the power gap ; Calculate the remaining torque capacity of the remaining non-failed motors (right front wheel, left rear wheel):

[0056]

[0057] in, This represents the remaining torque capacity of the right front motor. This is the rated torque of the right front motor. This is the compensation torque for the right front motor. This represents the actual output torque of the right front motor. This represents the remaining torque capacity of the left rear motor. This is the rated torque of the left rear motor. This is the compensation torque for the left rear motor. This represents the actual output torque of the left rear motor.

[0058] If the sum of the remaining torque capacities of the non-failed motors is greater than or equal to the power shortage torque, the power shortage torque shall be allocated proportionally according to the remaining capacity:

[0059]

[0060] Distribute torque to the right front motor. Distribute torque to the left rear motor.

[0061] Ultimately, the output torque distributed to the right front motor is + + The output torque distributed by the left rear motor is + + .

[0062] If the remaining capacity is insufficient, the maximum vehicle speed will be reduced (e.g., from 120km / h to 80km / h), and the power demand will be recalculated and redistributed.

[0063] When two motors on the same side fail, the system assumes that the vehicle's power is severely faulty and cannot operate, thus limiting torque output.

[0064] When both coaxial motors fail, the torque is directly distributed to the motor on the same side, turning into a pure front-wheel drive or rear-wheel drive mode.

[0065] The motor failure handling method provided in this application embodiment, when the maximum output torque of the failed motor is limited, resulting in a decrease in the actual output torque of the failed motor, first compensates for the torque loss of the failed motor by using the yaw torque loss of the motor to maintain vehicle stability. Then, it allocates the vehicle's power shortage torque by using the total required torque of the vehicle and the remaining torque capacity of the unfailed motor. This method can balance the yaw stability and power requirements of the vehicle after motor failure, thereby ensuring vehicle driving safety and power performance and improving user experience.

[0066] In some embodiments, the first operating data includes three-phase current, speed, torque response delay, and motor temperature; determining whether there is a failed motor among the multiple motors based on the first operating data includes: determining a failure warning value for the multiple motors based on the three-phase current, speed, torque response delay, and motor temperature of the multiple motors; if the failure warning value of a target motor among the multiple motors is greater than the warning threshold, determining that the target motor is failed, and designating the target motor as a failed motor.

[0067] Furthermore, in some embodiments, based on the three-phase current, speed, torque response delay, and motor temperature of multiple motors, failure warning values ​​for multiple motors are determined, including: calculating a first deviation rate between the three-phase current of multiple motors and a preset three-phase current reference range, a second deviation rate between the speed of multiple motors and a preset speed fluctuation reference range, a third deviation rate between the torque response delay of multiple motors and a preset torque response delay reference value, and the temperature drift of multiple motors and a preset temperature range; determining failure target values ​​for multiple motors based on the first deviation rate, second deviation rate, and third deviation rate; determining failure weight values ​​for multiple motors based on the temperature drift of multiple motors; and determining failure warning values ​​for multiple motors based on the failure target values ​​and failure weight values.

[0068] The controller can collect real-time operating data from multiple motors, including three-phase current, speed, torque response delay, and motor temperature. The three-phase current is collected by Hall effect sensors built into the motor controller, with a sampling frequency of at least 10kHz to ensure the capture of minute current fluctuations. Real-time speed is collected by photoelectric encoders at the motor shaft end, with a resolution of at least 1000 lines per revolution to ensure accurate speed detection. Torque response delay is determined by comparing the time difference between the torque command sent by the vehicle controller and the actual output torque of the motor, with a sampling interval of 10ms.

[0069] The controller can calculate the failure warning value for each motor based on the collected initial operating data using a dynamic threshold algorithm. First, it establishes the three-phase current reference range, speed fluctuation reference range, and torque response delay reference value for normal motor operation. These reference parameters are calibrated based on the motor parameters at the vehicle's factory (such as rated current and rated speed) and historical operating data (statistical analysis of parameters from nearly 1000 normal driving cycles). Then, it calculates the first deviation rate α between the real-time three-phase current and the three-phase current reference range, the second deviation rate β between the speed and the speed fluctuation reference range, the third deviation rate γ between the torque response delay and the torque response delay reference value, and the temperature drift between the motor temperature and the preset temperature range. Each deviation rate is calculated by dividing the absolute value of the difference between the initial operating data and the corresponding midpoint value or reference value of the reference range by the initial operating data. For example, the first deviation rate = |real-time three-phase current - midpoint value of the three-phase current reference range| / real-time three-phase current. The motor temperature drift is the absolute value of the difference between the motor temperature and the midpoint value of the temperature range. Then, the failure target value is calculated using a weighted formula: 0.4α + 0.35β + 0.25γ. If the temperature deviation exceeds 15℃, the failure weight value is 1.2; otherwise, the failure weight value is 1. The failure warning value S is calculated as: failure weight value × failure target value. Here, α, β, and γ all range from 0 to 1, with a value of 1 when they exceed 1. When the failure warning value exceeds a preset warning threshold (e.g., 0.3), the motor is determined to have failed.

[0070] The motor failure handling method provided in this application determines whether a failed motor exists by using the first operating data of the vehicle motor. It can detect the failure status of the motor in real time through the motor operating data, avoiding misjudgment caused by single parameter detection. It is convenient to balance the torque of the unfailed motors after motor failure, taking into account the vehicle's yaw stability and power requirements, thereby ensuring vehicle driving safety and power performance and improving user experience.

[0071] In some embodiments, the second operating data includes the operating status of the communication link; determining the degree of failure of the failed motor based on the first operating data and the second operating data includes: determining the failure warning value of the failed motor based on the first operating data; determining the degree of failure based on the magnitude of the failure warning value of the failed motor, the temperature drift of the motor temperature from a preset temperature range, and the operating status of the communication link.

[0072] The operational status of the communication link is calculated based on the packet loss rate and communication latency. A communication link is considered abnormal when the packet loss rate exceeds 3% or the communication latency exceeds 50ms. Failure levels are categorized as minor failure, moderate failure, and complete failure, with the following criteria: Minor Failure: If the failure warning value is 0.3≤S<0.5, the motor temperature drift is ≤10℃, and the communication link is normal, the motor is judged to be in a minor failure state. At this time, the maximum output torque of the motor is limited to not exceed 90% of the rated torque.

[0073] Complete failure: If the failure warning value S≥0.8, the motor temperature drift>20℃, or the communication link is seriously abnormal, the motor is judged to be in a complete failure state. At this time, the maximum output torque of the motor is limited to less than 30% of the rated torque.

[0074] Moderate failure: Under other circumstances, the motor is considered to be in a completely failed state, and the maximum output torque of the motor is limited to less than 70% of the rated torque.

[0075] The motor failure handling method provided in this application determines the degree of failure of the motor by taking into account the magnitude of the failure warning value of the failed motor, the temperature drift of the motor temperature from the preset temperature range, and the operating status of the communication link. Based on the degree of failure, the maximum output torque of the failed motor is limited, thereby ensuring vehicle driving safety.

[0076] Figure 2 This is the second schematic flowchart of the motor failure handling method provided in the embodiments of this application. (Refer to...) Figure 2 This application also provides specific examples of motor failure handling methods: Example 1: Minor failure of the left front wheel motor in a four-motor vehicle Data acquisition: Three-phase current deviation rate α=0.3, speed deviation rate β=0.25, torque response delay deviation rate γ=0.2, motor temperature drift = 8℃, communication link data packet loss rate = 1%.

[0077] Failure warning value calculation: S=0.4×0.3+0.35×0.25+0.25×0.2=0.12+0.0875+0.05=0.257, which does not exceed the warning threshold of 0.3, and does not trigger failure judgment; Subsequent data collection found that α rose to 0.35, β rose to 0.3, and γ rose to 0.25, and the failure warning value S=0.4×0.35+0.35×0.3+0.25×0.25=0.14+0.105+0.0625=0.3075, which exceeds the warning threshold and triggers failure degree judgment.

[0078] Failure determination: Motor temperature drift = 8℃≤10℃, communication link is normal, failure warning value S=0.3075, the left front wheel motor is determined to be slightly faulty.

[0079] Torque transfer control: Based on the vehicle dynamics model, it is calculated that the right rear wheel motor needs to be increased by 10% of its rated torque to maintain yaw stability. According to the accelerator pedal opening, the vehicle's power requirement is 60% of the rated total torque. The left front wheel motor can output 75% of the rated torque. The remaining power gap is supplemented by the right front wheel, left rear wheel, and right rear wheel motors, each increasing the rated torque by 5%. In the end, the output torque of each normal motor does not exceed 110% of the rated torque, and the vehicle's power and stability are both guaranteed.

[0080] Example 2: The right rear wheel motor of a three-motor vehicle completely fails. Data acquisition: Three-phase current deviation rate α=0.9, speed deviation rate β=0.85, torque response delay deviation rate γ=0.95, motor temperature drift = 25℃, communication link data packet loss rate = 2%.

[0081] Failure warning value calculation: S=1.2×(0.4×0.9+0.35×0.85+0.25×0.95=0.36+0.2975+0.2375)=1.074, which exceeds the warning threshold and triggers the failure degree judgment.

[0082] Failure determination: Motor temperature drift = 25℃ > 20℃, failure warning value S = 1.074 ≥ 0.8, the right rear wheel motor is determined to be completely failed.

[0083] Torque transfer control: Prioritize increasing the front axle motor's rated torque by 20% and the left rear wheel motor's rated torque by 15% to offset the yaw torque deviation caused by the failure of the right rear wheel motor; the vehicle's power demand is 70% of the rated total torque. With no output from the right rear wheel motor, the power gap is supplemented by the left rear wheel and front axle motors. The front axle motor increases its rated torque by 35%, and the left rear wheel motor increases its rated torque by another 10%. At this time, the output torque of each normal motor does not exceed 110% of its rated torque; when the accelerator pedal opening increases and the power gap exceeds the supplementary capacity of the normal motors, the vehicle's maximum speed is reduced from 10km / h to 90km / h to ensure power performance at low speeds.

[0084] The motor failure handling device provided in this application is described below. The motor failure handling device described below can be referred to in correspondence with the motor failure handling method described above.

[0085] Figure 3 This is a schematic diagram of the motor failure handling device provided in an embodiment of this application. (Refer to...) Figure 3 The motor failure handling device provided in this application embodiment may include: The acquisition module 310 is used to acquire the first operating data of multiple motors of the vehicle; The judgment module 320 is used to determine whether there is a failed motor among the plurality of motors based on the first operating data; The determination module 330 is used to, if there is a failed motor among the plurality of motors, acquire second operating data of the failed motor, and determine the degree of failure of the failed motor based on the first operating data and the second operating data; Limiting module 340 is used to limit the maximum output torque of the failed motor based on the degree of failure; The allocation module 350 is used to allocate the output torque of the non-failed motors among the plurality of motors based on the reference yaw moment and the total required torque of the vehicle if the maximum output torque of the failed motor is limited and the actual output torque of the failed motor decreases; the reference yaw moment is used to maintain the yaw stability of the vehicle.

[0086] The motor failure handling device provided in this application determines the existence and degree of failure of a motor by analyzing the vehicle motor's operating data. When the maximum output torque of the failed motor is limited, causing a decrease in its actual output torque, the device allocates the output torque of the non-failed motor based on the yaw torque loss of the failed motor and the total torque demand of the vehicle. The device can detect the motor's failure status in real time through motor operating data and balance the torque distribution of the non-failed motor after motor failure by taking into account both the vehicle's yaw stability and power requirements. This ensures vehicle driving safety and power performance and improves user experience.

[0087] In some embodiments, the allocation module is used for: The compensation torque of the compensation motor is determined based on the yaw moment loss; the compensation motor is one of the motors that have not failed, and the compensation motor maintains the yaw stability of the vehicle after the failure of the failed motor by using the compensation torque; The output torque of the non-failed motor is allocated based on the total required torque and the compensation torque.

[0088] In some embodiments, the allocation module is used for: Obtain the actual decrease in output torque after the maximum output torque of the failed motor is limited; Based on the actual output torque reduction value and the first lateral distance, the yaw moment loss is determined; the first lateral distance is the lateral distance between the tire where the failed motor is located and the vehicle's center of gravity. The compensation torque is determined based on the yaw moment loss and the second lateral distance; the second lateral distance is the lateral distance between the tire where the compensation motor is located and the vehicle's center of gravity.

[0089] In some embodiments, the allocation module is used for: Obtain the actual output torque of the plurality of motors and the rated torque of the non-failed motors; The power shortage torque of the vehicle is determined based on the total required torque, the compensation torque, and the actual output torque of the plurality of motors. Based on the compensation torque, the rated torque of the non-failed motor, and the actual output torque of the non-failed motor, the remaining torque capacity of the non-failed motor is determined; If the sum of the remaining torque capacities of the non-failed motors is greater than or equal to the power gap torque, the output torque of the non-failed motors is allocated based on the compensation torque, the power gap torque, and the remaining torque capacity of the non-failed motors.

[0090] In some embodiments, the first operating data includes three-phase current, speed, torque response delay, and motor temperature; The judgment module is used for: Based on the three-phase current, speed, torque response delay, and motor temperature of the multiple motors, a failure warning value for the multiple motors is determined; If the failure warning value of a target motor among the plurality of motors is greater than the warning threshold, the target motor is determined to be faulty and is designated as the faulty motor.

[0091] In some embodiments, the determining module is used to: Calculate the first deviation rate of the three-phase current of the plurality of motors from a preset three-phase current reference range, the second deviation rate of the speed of the plurality of motors from a preset speed fluctuation reference range, the third deviation rate of the torque response delay of the plurality of motors from a preset torque response delay reference value, and the temperature drift of the motor temperature of the plurality of motors from a preset temperature range. Based on the first deviation rate, the second deviation rate, and the third deviation rate of the plurality of motors, the failure target value of the plurality of motors is determined; Based on the temperature drift of the plurality of motors, the failure weight values ​​of the plurality of motors are determined; Based on the failure target value and the failure weight value of the plurality of motors, the failure warning value of the plurality of motors is determined.

[0092] In some embodiments, the second operational data includes the operational status of the communication link; The determining module is used for: Based on the first operating data, the failure warning value of the failed motor is determined; The degree of failure is determined based on the magnitude of the failure warning value of the failed motor, the temperature drift of the motor temperature from the preset temperature range, and the operating status of the communication link.

[0093] Specifically, the motor failure handling device provided in this application embodiment can implement all the method steps implemented by the method embodiment with the controller as the execution subject, and can achieve the same technical effect. Here, the parts that are the same as those in the method embodiment and the beneficial effects will not be described in detail.

[0094] Figure 4 This is a schematic diagram of the structure of the electronic device provided in an embodiment of this application. For example... Figure 4 As shown, the electronic device may include: a processor 410, a communication interface 420, a memory 430, and a communication bus 440, wherein the processor 410, the communication interface 420, and the memory 430 communicate with each other via the communication bus 440. The processor 410 can call logical instructions in the memory 430 to execute a motor failure handling method, such as including: Acquire the initial operating data of multiple motors in the vehicle; Based on the first operating data, determine whether there is a failed motor among the plurality of motors; If the failed motor is among the plurality of motors, the second operating data of the failed motor is obtained, and the degree of failure of the failed motor is determined based on the first operating data and the second operating data; The maximum output torque of the failed motor is limited based on the degree of failure. If the maximum output torque of the failed motor is limited, the actual output torque of the failed motor decreases. Based on the yaw torque loss of the failed motor and the total torque demand of the vehicle, the output torque of the non-failed motors among the multiple motors is allocated.

[0095] Furthermore, the logical instructions in the aforementioned memory 430 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0096] On the other hand, this application also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the motor failure handling methods provided by the above methods, including, for example: Acquire the initial operating data of multiple motors in the vehicle; Based on the first operating data, determine whether there is a failed motor among the plurality of motors; If the failed motor is among the plurality of motors, the second operating data of the failed motor is obtained, and the degree of failure of the failed motor is determined based on the first operating data and the second operating data; The maximum output torque of the failed motor is limited based on the degree of failure. If the maximum output torque of the failed motor is limited, the actual output torque of the failed motor decreases. Based on the yaw torque loss of the failed motor and the total torque demand of the vehicle, the output torque of the non-failed motors among the multiple motors is allocated.

[0097] Furthermore, this application also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can perform the steps of the motor failure handling methods provided by the above methods, such as including: Acquire the initial operating data of multiple motors in the vehicle; Based on the first operating data, determine whether there is a failed motor among the plurality of motors; If the failed motor is among the plurality of motors, the second operating data of the failed motor is obtained, and the degree of failure of the failed motor is determined based on the first operating data and the second operating data; The maximum output torque of the failed motor is limited based on the degree of failure. If the maximum output torque of the failed motor is limited, the actual output torque of the failed motor decreases. Based on the yaw torque loss of the failed motor and the total torque demand of the vehicle, the output torque of the non-failed motors among the multiple motors is allocated.

[0098] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0099] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0100] It should also be noted that in the embodiments of this application, the terms "first," "second," etc., are used to distinguish similar objects, and not to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same class, and the number of objects is not limited. For example, the first object can be one or more.

[0101] In this application embodiment, the term "and / or" describes the association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0102] In this application's embodiments, "determine B based on A" means that factor A must be considered when determining B. It is not limited to "B can be determined based solely on A," but should also include: "determine B based on A and C," "determine B based on A, C, and E," "determine C based on A, and further determine B based on C," etc. Additionally, it can include using A as a condition for determining B, for example, "when A meets the first condition, determine B using the first method"; another example, "when A meets the second condition, determine B," etc.; another example, "when A meets the third condition, determine B based on the first parameter," etc. Of course, it can also be a condition where A is a factor in determining B, for example, "when A meets the first condition, determine C using the first method, and further determine B based on C," etc.

[0103] In the embodiments of this application, the term "multiple" refers to two or more, and other quantifiers are similar.

[0104] In this application, the terms "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 this application. In this application, 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 can be combined in a suitable manner in any 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.

[0105] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for handling motor failure, characterized in that, include: Acquire the initial operating data of multiple motors in the vehicle; Based on the first operating data, determine whether there is a failed motor among the plurality of motors; If the failed motor is among the plurality of motors, the second operating data of the failed motor is obtained, and the degree of failure of the failed motor is determined based on the first operating data and the second operating data; The maximum output torque of the failed motor is limited based on the degree of failure. If the maximum output torque of the failed motor is limited, the actual output torque of the failed motor decreases. Based on the yaw torque loss of the failed motor and the total required torque of the vehicle, the output torque of the non-failed motors among the multiple motors is allocated.

2. The motor failure handling method according to claim 1, characterized in that, The allocation of output torque among the non-failed motors based on the yaw moment loss of the failed motor and the total torque demand of the vehicle includes: The compensation torque of the compensation motor is determined based on the yaw moment loss; the compensation motor is one of the motors that have not failed, and the compensation motor maintains the yaw stability of the vehicle after the failure of the failed motor through the compensation torque; The output torque of the non-failed motor is allocated based on the total required torque and the compensation torque.

3. The motor failure handling method according to claim 2, characterized in that, The determination of the compensation torque of the compensation motor based on the yaw moment loss includes: Obtain the actual decrease in output torque after the maximum output torque of the failed motor is limited; Based on the actual output torque reduction value and the first lateral distance, the yaw moment loss is determined; the first lateral distance is the lateral distance between the tire where the failed motor is located and the vehicle's center of gravity. The compensation torque is determined based on the yaw moment loss and the second lateral distance; the second lateral distance is the lateral distance between the tire where the compensation motor is located and the vehicle's center of gravity.

4. The motor failure handling method according to claim 2, characterized in that, The allocation of the output torque of the non-failed motor based on the total required torque and the compensation torque includes: Obtain the actual output torque of the plurality of motors and the rated torque of the non-failed motors; The power shortage torque of the vehicle is determined based on the total required torque, the compensation torque, and the actual output torque of the plurality of motors. Based on the compensation torque, the rated torque of the non-failed motor, and the actual output torque of the non-failed motor, the remaining torque capacity of the non-failed motor is determined; If the sum of the remaining torque capacities of the non-failed motors is greater than or equal to the power gap torque, the output torque of the non-failed motors is allocated based on the compensation torque, the power gap torque, and the remaining torque capacity of the non-failed motors.

5. The motor failure handling method according to claim 1, characterized in that, The first set of operating data includes three-phase current, speed, torque response delay, and motor temperature; The step of determining whether there is a failed motor among the plurality of motors based on the first operating data includes: Based on the three-phase current, speed, torque response delay, and motor temperature of the multiple motors, a failure warning value for the multiple motors is determined; If the failure warning value of a target motor among the plurality of motors is greater than the warning threshold, the target motor is determined to be faulty and is designated as the faulty motor.

6. The motor failure handling method according to claim 5, characterized in that, The method of determining the failure warning value of the multiple motors based on the three-phase current, speed, torque response delay, and motor temperature of the multiple motors includes: Calculate the first deviation rate of the three-phase current of the plurality of motors from a preset three-phase current reference range, the second deviation rate of the speed of the plurality of motors from a preset speed fluctuation reference range, the third deviation rate of the torque response delay of the plurality of motors from a preset torque response delay reference value, and the temperature drift of the motor temperature of the plurality of motors from a preset temperature range. Based on the first deviation rate, the second deviation rate, and the third deviation rate of the plurality of motors, the failure target value of the plurality of motors is determined; Based on the temperature drift of the plurality of motors, the failure weight values ​​of the plurality of motors are determined; Based on the failure target value and the failure weight value of the plurality of motors, the failure warning value of the plurality of motors is determined.

7. The motor failure handling method according to claim 5, characterized in that, The second operational data includes the operational status of the communication link; The determination of the failure degree of the failed motor based on the first operating data and the second operating data includes: Based on the first operating data, the failure warning value of the failed motor is determined; The degree of failure is determined based on the magnitude of the failure warning value of the failed motor, the temperature drift of the motor temperature from the preset temperature range, and the operating status of the communication link.

8. A motor failure handling device, characterized in that, include: The acquisition module is used to acquire the initial operating data of multiple motors in the vehicle; The judgment module is used to determine whether there is a failed motor among the plurality of motors based on the first operating data; The determination module is used to, if there is a failed motor among the plurality of motors, acquire second operating data of the failed motor, and determine the degree of failure of the failed motor based on the first operating data and the second operating data; A limiting module is used to limit the maximum output torque of the failed motor based on the degree of failure. The allocation module is used to allocate the output torque of the non-failed motors among the multiple motors based on the vehicle's reference yaw moment and total required torque, if the maximum output torque of the failed motor is limited and the actual output torque of the failed motor decreases. The reference yaw moment is used to maintain the yaw stability of the vehicle.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the motor failure handling method as described in any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the motor failure handling method as described in any one of claims 1 to 7.

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