A method, system, device, and medium for torque distribution of an in-wheel motor

By constructing a quadratic programming solver and a weighted coefficient model, refined torque distribution of the hub motor is achieved, which solves the problems of high energy consumption and poor stability caused by insufficient consideration of the real-time speed difference and nonlinear efficiency characteristics of the motor in the existing technology, and improves the energy efficiency and stability of the robot system.

CN122211206APending Publication Date: 2026-06-16SHENZHEN XIAOXIANG ELECTRIC TECH CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
SHENZHEN XIAOXIANG ELECTRIC TECH CO LTD
Filing Date
2026-05-14
Publication Date
2026-06-16

AI Technical Summary

Technical Problem

Existing wheel hub motor torque distribution methods do not fully consider the real-time speed differences, efficiency characteristics and energy losses of each motor, resulting in high energy consumption and poor stability. In particular, under high speed, variable load or complex road conditions, the system energy consumption is too high and wheel speed slip or torque oscillation is prone to occur.

Method used

A quadratic programming solver is used to construct an objective function with the hub motor's torque distribution as the decision variable. Combined with weighting coefficients and an energy loss model, the optimal torque distribution vector is output by setting initial torque distribution components and iteratively solving the effective set, thereby achieving refined torque distribution.

Benefits of technology

It improves the motion stability, energy efficiency and dynamic response of the robot system, ensures the reliability and consistency in multi-hub collaborative working scenarios, and enhances the system's adaptability to environmental changes and working condition switching.

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Abstract

This application relates to a method, system, device, and medium for torque distribution of hub motors, including: acquiring the robot's current total required torque and the real-time speed of each hub motor; inputting the total required torque and the real-time speed into a quadratic programming solver; constructing a quadratic programming objective function with the distributed torque of each hub motor as the decision variable; setting initial distributed torque components that satisfy the planning constraints and initializing the effective set, wherein the effective set includes all inequality constraints that are exactly on the boundary in the current solution and all equality constraints; performing an iterative loop subproblem solution based on all inequality constraints and equality constraints in the effective set until the optimality condition is met, and outputting the optimal distributed torque vector; using each element in the optimal distributed torque vector as the target output torque of the corresponding hub motor, and controlling the corresponding hub motor to perform torque output.
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