Control method, system, terminal device and computer readable storage medium of multi-motor driving structure

Abstract

The application discloses a control method and system of a multi-motor driving structure, terminal equipment and a computer readable storage medium, and belongs to the technical field of multi-motor control. The control method of the multi-motor driving structure comprises the following steps: acquiring the motor rotating speed of each motor and the required torque of an output shaft; calculating the rated curve torque of each motor according to the motor rotating speed and the corresponding motor rated power curve; and according to the principle of preferentially allocating the required torque to the motor that has outputted the torque and has not reached the rated curve torque, the required torque is sequentially allocated to several motors, so that the output shaft provides the required torque. By sequentially allocating the required torque, the required torque is continuously allocated to the next motor after the previous motor reaches the rated curve torque, and therefore, the motor participating in work can reach a high efficiency except for the newly allocated motor, so that the energy consumption of the whole vehicle is reduced.

Description

Technical Field

[0001] This invention relates to the field of multi-motor control technology, and in particular to a control method, system, terminal device, and computer-readable storage medium for a multi-motor drive structure. Background Technology

[0002] In order to significantly reduce carbon emissions and effectively control operating costs, and to adapt to increasingly stringent environmental policies and complex operating conditions, electrification is an inevitable direction for the green transformation of engineering vehicles designed for complex terrain and heavy-duty transportation.

[0003] To meet the requirements of the maximum speed and maximum gradeability of such engineering vehicles, and to ensure uninterrupted power, multiple high-power motors are usually used for coupled drive. However, when the power demand of the whole vehicle is not that high, the power distributed to each individual motor is relatively small, resulting in low efficiency of all motors and thus high energy consumption of the whole vehicle. Summary of the Invention

[0004] The purpose of this invention is to provide a control method, system, terminal device, and computer-readable storage medium for a multi-motor drive structure, which can concentrate the output torque on a small number of motors, thereby improving the efficiency of motor output power and reducing the energy consumption of the whole vehicle.

[0005] To address the aforementioned technical problems, the present invention provides a control method for a multi-motor drive structure, applied to an engineering vehicle. The engineering vehicle is equipped with a multi-motor drive structure, which includes an output shaft and at least two motors, each of which is mechanically connected to the output shaft. The control method includes: Obtain the motor speed of each of the motors; Obtain the required torque of the output shaft; The rated curve torque of each motor is calculated based on the motor speed and the corresponding rated power curve. According to the principle of prioritizing the allocation of motors that have already output torque but have not yet reached the rated curve torque, the required torque is sequentially allocated to several of the motors, so that the output shaft provides the required torque.

[0006] This technical solution has at least the following beneficial effects: when allocating the required torque in sequence, the required torque is preferentially allocated to the motor that has already output torque but has not yet reached the rated curve torque. Therefore, the required torque is allocated to the next motor only after the previous motor has reached the rated curve torque. Thus, all motors involved in the work, except for the newly allocated motor, can achieve higher efficiency, thereby reducing the energy consumption of the whole vehicle.

[0007] Optionally, the step of sequentially distributing the required torque to a plurality of the motors includes: Obtain the positional distribution information of each motor relative to the output shaft; When the position distribution information indicates that the distribution positions of all the motors relative to the output shaft are circumferentially symmetrical, the two motors with circumferential symmetry are divided into the same group, wherein the forces exerted by the two motors in the same group on the output shaft are circumferentially symmetrical along the axis of the output shaft. When there is no motor that has already output torque but has not reached the rated curve torque, priority is given to ensuring that two motors in the same group reach the rated curve torque before redistributing them to motors in other groups.

[0008] Optionally, the control method further includes: When both motors in the same group are in the output torque working state, the two motors are controlled to output the same torque on the output shaft.

[0009] Optionally, the step of sequentially distributing the required torque to a plurality of the motors includes: Record the operating time when each motor outputs torque, and calculate the maximum time difference between the operating times of different motors; When there is no motor that has already output torque and has not reached the rated curve torque, and the priority is not to redistribute the two motors in the same group to motors in other groups after they have reached the rated curve torque, and when the maximum time difference is greater than the first preset time, the required torque is preferentially allocated to the motor with the shortest working time.

[0010] Optionally, the step of sequentially distributing the required torque to a plurality of the motors includes: When there is no motor that has already output torque and has not reached the rated curve torque, and the principle of prioritizing the allocation of the required torque to the motor with the shortest operating time is not executed, the required torque is preferentially allocated to the motor with the smaller rated curve torque.

[0011] Optionally, the step of sequentially distributing the required torque to a plurality of the motors includes: Record the operating time when each motor outputs torque, and calculate the maximum time difference between the operating times of different motors; When there is no motor that has already output torque and has not reached the rated curve torque, and when the maximum duration difference is greater than the second preset duration, the required torque is preferentially allocated to the motor with the shortest working duration.

[0012] Optionally, obtaining the required torque of the output shaft includes: Obtain the acceleration signal from the accelerator pedal of the engineering vehicle; The required torque is calculated based on the acceleration signal and the motor speed of each motor.

[0013] A second aspect of the present invention provides a control system applied to an engineering vehicle, the control system comprising a multi-motor drive structure and a control device for the engineering vehicle; wherein the multi-motor drive structure comprises an output shaft and at least two motors, each of the motors being mechanically connected to the output shaft. The control device is configured to: Obtain the motor speed of each of the motors; Obtain the required torque of the output shaft; The rated curve torque of each motor is calculated based on the motor speed and the corresponding rated power curve. The required torque is sequentially distributed to several of the motors, so that the output shaft provides the required torque; When distributing the required torque to several motors in sequence, priority is given to distributing the required torque to the motors that have already output torque but have not yet reached the rated curve torque.

[0014] A third aspect of the present invention provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, implements the control method of the multi-motor drive structure described in any of the preceding claims.

[0015] A fourth aspect of the present invention provides a computer-readable storage medium storing a computer program, wherein the computer program is configured to execute the control method of the multi-motor drive structure described in any of the preceding claims when run on a computer or processor. Attached Figure Description

[0016] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a flowchart illustrating the control method in an embodiment of the present invention; Figure 2 This is a schematic diagram of the method when the position distribution information is symmetrical in an embodiment of the present invention; Figure 3 This is a schematic diagram of the method when the maximum duration difference is greater than the first preset duration in an embodiment of the present invention; Figure 4 This is a schematic diagram of the method for preferentially allocating motors with smaller rated curve torque in an embodiment of the present invention; Figure 5 This is a schematic diagram of the method when the maximum duration difference is greater than the second preset duration in an embodiment of the present invention; Figure 6 This is a schematic diagram of the overall steps in an embodiment of the present invention; Figure 7 This is a motor efficiency map in an embodiment of the present invention; Figure 8 This is a schematic diagram of the planar distribution of the dual windings in the multi-motor asymmetric distribution structure in an embodiment of the present invention; Figure 9 This is a three-dimensional structural diagram of the dual-winding distribution in the multi-motor asymmetric distribution structure in an embodiment of the present invention; Figure 10 This is a schematic diagram of the planar distribution of the coaxial front and rear dual motors in the multi-motor asymmetric distribution structure in an embodiment of the present invention; Figure 11 This is a three-dimensional structural diagram of the coaxial front and rear dual motor distribution in the multi-motor asymmetric distribution structure in an embodiment of the present invention; Figure 12 This is a schematic diagram of the planar distribution of the multi-motor symmetrical distribution structure in an embodiment of the present invention; Figure 13 This is a three-dimensional structural diagram of the symmetrically distributed multi-motor structure in an embodiment of the present invention; 910, First motor; 920, Second motor; 930, Third motor; 940, Fourth motor. Detailed Implementation

[0017] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention. It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus. According to an embodiment of the present invention, an embodiment of a control method for a multi-motor drive structure is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system containing at least one set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here. This method embodiment can also be executed in an electronic system / device containing a memory and a processor, a similar control system, or in the cloud. Taking an electronic system / device as an example, the electronic system / device may include one or more processors and a memory for storing data. Optionally, the aforementioned electronic system / device may also include communication devices for communication functions and display devices. Those skilled in the art will understand that the above structural description is merely illustrative and does not limit the structure of the aforementioned electronic system / device. For example, the electronic system / device may also include more or fewer components than those described above, or have a different configuration than those described above. A processor may include one or more processing units. For example, a processor may include a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processing (DSP) chip, a microcontroller unit (MCU), a field-programmable gate array (FPGA), a neural network processing unit (NPU), a tensor processing unit (TPU), and artificial intelligence (AI) type processors, etc. Different processing units may be independent components or integrated into one or more processors. In some instances, an electronic system may also include one or more processors. The memory can be used to store computer programs, such as the computer program corresponding to the vehicle control method in this embodiment of the invention. The processor implements the vehicle control method by running the computer program stored in the memory. The memory may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include memory remotely located relative to the processor, which can be connected to the electronic system via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0018] This application provides a control method for a multi-motor drive structure, applied to engineering vehicles. Exemplary examples of engineering vehicles include electric dump trucks, electric heavy trucks, electric loaders, electric graders, etc. The engineering vehicle has a multi-motor drive structure used to drive the vehicle's movement.

[0019] The multi-motor drive structure includes an output shaft and at least two motors. Depending on actual needs, two, three, four, five, six, or more motors can be used. Each motor is mechanically connected to the output shaft. For example, a first gear is installed at the motor output end, and a second gear is installed on the output shaft. The first and second gears mesh, allowing the motor to output torque to the output shaft. It can be understood that the total torque required on the output shaft can be calculated using the partial torque output by each motor. When some motors output torque while others do not, the remaining motors are in a follow-up state.

[0020] Reference Figure 1 and Figure 6 As shown, a control method for a multi-motor drive structure may include, but is not limited to, steps S100, S200, S300 and S400.

[0021] Step S100: Obtain the motor speed of each motor.

[0022] It is understandable that, since there is a definite mechanical transmission connection between the motor and the output shaft, there is a definite relationship between the motor speed of each motor and the speed of the output shaft. The motor speed of each motor can be determined by obtaining the speed of the output shaft, or the motor speed can be directly obtained by obtaining the motor speed measured by external sensors or internal sensors of the motor.

[0023] Step S200: Obtain the required torque of the output shaft.

[0024] Specifically, the engineering vehicle has an accelerator pedal. When the driver presses the accelerator pedal, the driver's acceleration intention can be obtained by detecting the degree of pedal depressing, thereby determining the required torque. In this embodiment, the acceleration signal from the accelerator pedal is acquired, and the required torque is calculated based on the acceleration signal and the motor speed of each motor. For example, the vehicle controller of the engineering vehicle collects the acceleration signal from the accelerator pedal. Based on the acceleration signal, the degree of pedal depressing can be determined, and the required power can be converted under limited power conditions. Then, the required torque for the output shaft is calculated based on the required power and the current motor speed. It is understood that there is a definite relationship between the output shaft torque and the motor torque, and the torque applied to the output shaft can be calculated based on the motor output torque. In some embodiments, the required torque can also be determined by looking up a table based on the acceleration signal and the motor speed of each motor.

[0025] In some embodiments, the engineering vehicle is also equipped with a slow-speed operation device, which can be charged by a generator motor during startup.

[0026] Step S300: Calculate the rated curve torque of each motor based on the motor speed and the corresponding rated power curve of the motor.

[0027] Understandably, referring to Figure 7 The motor efficiency map shows the motor's rated power curve at the bottom. When the motor operates near its rated power curve, its efficiency is in the high-efficiency zone (greater than 90%). Therefore, ensuring the motor operates within this high-efficiency zone reduces overall vehicle energy consumption. In this embodiment, the rated curve torque refers to the torque value at the current speed on the corresponding rated power curve. Therefore, by using the motor's rated power curve and the current motor speed to determine the rated curve torque, it can be determined that the motor is in the high-efficiency zone when it outputs its rated curve torque. Thus, by controlling the motor output to be as close to its rated curve torque as possible, the motor can operate within its high-efficiency zone, thereby reducing overall vehicle energy consumption.

[0028] In step S400, according to the principle of prioritizing the allocation of motors that have already output torque but have not yet reached the rated curve torque, the required torque is sequentially allocated to several motors so that the output shaft provides the required torque.

[0029] Understandably, when allocating the required torque sequentially, the required torque is first allocated to one motor, then to the second motor, and so on until all motors are operating. Understandably, during this sequential allocation process, the remaining torque is allocated to the second motor only after the first motor reaches its rated torque curve, and so on, until the required torque is fully allocated or all motors have reached their rated torque curve.

[0030] For example, to facilitate understanding, assume that all motors have a rated curve torque of T1N at the current speed, and the required torque is TtN. When Tt≤T1, a single motor operates, and the remaining motors are in a follow-up state (zero torque or very low torque). When T1<Tt≤2T1, two motors operate, with the first motor operating at its rated curve torque, the second motor supplementing the remaining torque, and the remaining motors in a follow-up state (zero torque or very low torque). When 2T1<Tt≤3T1, three motors operate, with two motors operating at their rated curve torque, the third motor supplementing the remaining torque, and the remaining motors in a follow-up state (zero torque or very low torque). This continues until all motors are operating. When (n-1)T1<Tt≤(n)T1, n motors operate, with (n-1) motors operating at their rated curve torque, the nth motor supplementing the remaining torque, and the remaining motors in a follow-up state (zero torque or very low torque). This continues until all motors are operating. It is understandable that when the transmission ratio between each motor and the output shaft is the same, the motor speeds are all the same. Furthermore, when the rated power curves of the motors are all the same (e.g., the motor models are the same), the rated curve torque of each motor at the current speed is also the same. Therefore, in some embodiments, the transmission ratio between each motor and the output shaft can be obtained. When the transmission ratios between each motor and the output shaft are all the same, the speed of one of the motors can be obtained to obtain the speeds of all motors. In some embodiments, the transmission ratio between each motor and the output shaft and the rated power curve of each motor can be obtained. When the transmission ratios between each motor and the output shaft are all the same and the rated power curves of each motor are all the same, the speed of one motor and the rated power curve of that motor can be used to calculate the rated curve torque to obtain the rated curve torque of all motors, simplifying the calculation.

[0031] In some embodiments, if the transmission ratio between the motor and the output shaft is different, there will be a difference in the speed between the motors, and the required torque may need to be allocated after a certain conversion.

[0032] Understandably, as the required torque gradually increases, the torque output of the first motor gradually increases until it reaches the rated curve torque. Then, the torque output of the second motor gradually increases until it reaches the rated curve torque, and so on, until the torque output of the Nth motor gradually increases, until the required torque is reached or until all motors are engaged.

[0033] Therefore, by controlling the operation of the motors in the multi-motor drive structure using the control method of this embodiment, the required torque can be preferentially allocated to the motors that have already output torque but have not yet reached the rated curve torque. Thus, the required torque is allocated to the next motor only after the previous motor has reached the rated curve torque. In this way, all motors involved in the operation, except for the newly allocated motor, can achieve high efficiency, thereby reducing the energy consumption of the entire vehicle.

[0034] Reference Figure 2 and Figure 6 As shown, step S400 in this embodiment also includes, but is not limited to, steps S510, S520 and S530.

[0035] Step S510: Obtain the position distribution information of each motor relative to the output shaft.

[0036] Step S520: When the position distribution information indicates that the distribution positions of all motors relative to the output shaft are circumferentially symmetrical, the two motors with circumferential symmetry are divided into the same group. The forces exerted by the two motors in the same group on the output shaft are circumferentially symmetrical on the output shaft axis.

[0037] Step S530: When there is no motor that has output torque but has not reached the rated curve torque, prioritize the two motors in the same group to reach the rated curve torque and then reassign them to motors in other groups.

[0038] It is understandable that a symmetrically distributed multi-motor structure refers to a situation where the intermediate output gear shaft experiences symmetrical forces, i.e., the output shaft experiences symmetrical forces. The positional distribution information of each motor relative to the output shaft can be determined through the model of the multi-motor drive structure or other parameter information, or it can be parameters that have been pre-input. When the positional distribution information indicates that the distribution positions of all motors relative to the output shaft exhibit circular symmetry, the two motors symmetrical about the output shaft are grouped into the same group based on this circular symmetry characteristic. This means that the forces exerted by the two motors in the same group on the output shaft exhibit circular symmetry along the output shaft axis, resulting in symmetrical forces on the intermediate output gear shaft connected to the output shaft.

[0039] For example, refer to Figure 12 and Figure 13As shown, taking four motors as an example, the first motor 910, the second motor 920, the third motor 930 and the fourth motor 940 are arranged in a square matrix. The first motor 910 and the fourth motor 940 on the diagonal are two motors in one group, and the second motor 920 and the third motor 930 on the diagonal are two motors in another group.

[0040] When no motor is available that is already outputting torque but has not yet reached its rated torque curve, a motor that is not currently operating must be selected to start working. Since priority is given to ensuring that the two motors in the same group reach their rated torque curves before redistributing the required torque to motors in other groups, if one motor in a group has reached its rated torque curve and the other is not outputting torque, the non-operating motor in that group is selected to start working. This ensures more symmetrical force on the output shaft and prevents deformation or bending. Furthermore, when both motors in the same group are outputting torque—that is, after one motor in the group has reached its rated torque curve, and the second motor needs to start working—the two motors in that group share the torque equally. It is understood that before and after sharing the torque, the total torque output by the two motors remains unchanged, thus achieving a better balance of force on the output shaft and the intermediate output gear shaft. It should be noted that no motor should exceed its rated power or deviate from its rated power curve when operating. When all motors have not started working, it also falls under the category of a situation where there are no motors that have already output torque and have not reached the rated curve torque.

[0041] Reference Figure 8 , Figure 9 , Figure 10 and Figure 11 As shown, the multi-motor asymmetrical distribution structure refers to the situation where the force on the intermediate output gear shaft is not symmetrical, such as the multi-motor drive structure with coaxial double winding distribution or coaxial front and rear double motor distribution. The first motor 910 and the second motor 920 exhibit non-circular symmetry.

[0042] Reference Figure 3 and Figure 6 As shown, step S400 in this embodiment also includes, but is not limited to, steps S610 and S620.

[0043] Step S610: Record the working time when each motor outputs torque, and calculate the maximum time difference between the working times of different motors.

[0044] Step S620: When there is no motor that has output torque but has not reached the rated curve torque, and when the priority is not to redistribute the two motors in the same group to motors in other groups after they have reached the rated curve torque, and when the maximum time difference is greater than the first preset time, the required torque is preferentially allocated to the motor with the shortest working time.

[0045] Understandably, when a motor outputs torque, it is in operation. Once in operation, the operating time of each motor is calculated. By subtracting the minimum operating time from the maximum, the maximum operating time difference is obtained. This maximum difference indicates the magnitude of lifespan variations among the motors. If the maximum difference exceeds a preset time, it indicates significant lifespan differences among the motors. In this case, the required torque should be prioritized for allocation to the motor with the shortest operating time to minimize lifespan variations, ensuring consistent lifespan for all motors and gears, and ultimately extending the system's lifespan.

[0046] It is understandable that prioritizing the allocation of required torque to the motor with the shortest operating time is contingent upon not prioritizing the allocation of torque to motors in other groups after both motors in the same group have reached their rated curve torque. In other words, the position distribution information indicates that the distribution of all motors relative to the output shaft is not circumferentially symmetrical, or the position distribution information indicates that the distribution of all motors relative to the output shaft is circumferentially symmetrical, but both motors in each group are in the same operating state or the same non-operating state.

[0047] Reference Figure 4 and Figure 6 As shown, step S400 in this embodiment also includes step S710.

[0048] In step S710, when there is no motor that has already output torque and has not reached the rated curve torque, and when the priority is not to allocate the required torque to the motor with the shortest working time, the required torque is allocated to the motor with the smaller rated curve torque.

[0049] It is understandable that prioritizing the allocation of required torque to the motor with the smaller rated curve torque is contingent upon not prioritizing the allocation of required torque to the motor with the shortest operating time. This means that the position distribution information indicates that the distribution positions of all motors relative to the output shaft are not circumferentially symmetrical, or that the position distribution information indicates that the distribution positions of all motors relative to the output shaft are circumferentially symmetrical, but the two motors in each group are in the same operating state or the same non-operating state; at the same time, the maximum duration difference is not greater than the first preset duration.

[0050] Reference Figure 5 As shown, step S400 in this embodiment also includes steps S810 and S820.

[0051] Step S810: Record the working time when each motor outputs torque, and calculate the maximum time difference between the working times of different motors.

[0052] Step S820: When there is no motor that has already output torque and has not reached the rated curve torque, and when the maximum time difference is greater than the second preset time, the required torque is preferentially allocated to the motor with the shortest working time.

[0053] Understandably, steps S810 and S610 are the same. When the motor outputs torque, it is in a working state. When the motor is in a working state, the working time of the motor is calculated. By calculating the working time of each motor and subtracting the minimum working time from the maximum working time, the maximum working time difference can be obtained. The maximum working time difference indicates the magnitude of the lifespan difference among the motors. The second preset working time is greater than the first preset working time. When the maximum working time difference is greater than the second preset working time, it indicates that the lifespan difference among the motors is too large. It is necessary to prioritize the allocation of the required torque to the motor with the shortest working time to reduce the lifespan difference as quickly as possible, ensure that the lifespan of each motor and gear is consistent, and extend the system lifespan.

[0054] It should be noted that once the maximum duration difference exceeds the second preset duration, steps S530 and S710 will no longer be executed to ensure that the lifespan difference does not increase further.

[0055] Furthermore, this embodiment can calculate the optimal motor usage combination based on the required torque and the rated curve torque of each motor. The optimal motor usage combination refers to the combination with the fewest motors used or a combination where all motors with output torque are in their high-efficiency range. When the current motor usage combination does not meet the optimal requirement, it is adjusted to become the optimal combination. For example, the required torque is set to 600N, the rated curve torque of the first motor is 500N, and the rated curve torque of the second motor is 600N. In this case, the optimal motor usage combination is for the second motor to output 600N of torque, and the first motor to be inactive. If the output torque of the first motor is currently 500N and the output torque of the second motor is 100N, then the output torque of the first motor is gradually reduced while the output torque of the second motor is increased, thereby adjusting the configuration so that the first motor is inactive and the second motor outputs 600N of torque.

[0056] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention. This application also provides a control system for engineering vehicles. The control system includes a multi-motor drive structure and a control device for the engineering vehicle. The multi-motor drive structure includes an output shaft and at least two motors, each of which is mechanically connected to the output shaft. The control device executes the control method of the multi-motor drive structure according to this application embodiment to reduce the overall vehicle energy consumption.

[0057] The control device can be used to execute the control method for the following multi-motor drive structure: Step S100: Obtain the motor speed of each motor.

[0058] Step S200: Obtain the required torque of the output shaft.

[0059] Step S300: Calculate the rated curve torque of each motor based on the motor speed and the corresponding rated power curve of the motor.

[0060] In step S400, according to the principle of prioritizing the allocation of motors that have already output torque but have not yet reached the rated curve torque, the required torque is sequentially allocated to several motors so that the output shaft provides the required torque.

[0061] Optionally, the control device can also be used to execute control methods for multi-motor drive structures as follows: Step S510: Obtain the position distribution information of each motor relative to the output shaft.

[0062] Step S520: When the position distribution information indicates that the distribution positions of all motors relative to the output shaft are circumferentially symmetrical, the two motors with circumferential symmetry are divided into the same group. The forces exerted by the two motors in the same group on the output shaft are circumferentially symmetrical on the output shaft axis.

[0063] Step S530: When there is no motor that has output torque but has not reached the rated curve torque, prioritize the two motors in the same group to reach the rated curve torque and then reassign them to motors in other groups.

[0064] Optionally, the control device can also be used to execute control methods for multi-motor drive structures as follows: Step S610: Record the working time when each motor outputs torque, and calculate the maximum time difference between the working times of different motors.

[0065] Step S620: When there is no motor that has output torque but has not reached the rated curve torque, and when the priority is not to redistribute the two motors in the same group to motors in other groups after they have reached the rated curve torque, and when the maximum time difference is greater than the first preset time, the required torque is preferentially allocated to the motor with the shortest working time.

[0066] Optionally, the control device can also be used to execute control methods for multi-motor drive structures as follows: In step S710, when there is no motor that has already output torque and has not reached the rated curve torque, and when the priority is not to allocate the required torque to the motor with the shortest working time, the required torque is allocated to the motor with the smaller rated curve torque.

[0067] Optionally, the control device can also be used to execute control methods for multi-motor drive structures as follows: Step S810: Record the working time when each motor outputs torque, and calculate the maximum time difference between the working times of different motors.

[0068] Step S820: When there is no motor that has already output torque and has not reached the rated curve torque, and when the maximum time difference is greater than the second preset time, the required torque is preferentially allocated to the motor with the shortest working time.

[0069] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated here.

[0070] Embodiments of the present invention also provide a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor is configured to run the computer program to perform a control method for a multi-motor drive structure as described in any of the above embodiments.

[0071] Optionally, in this embodiment, the processor may be configured to run a computer program to execute the control method steps in the foregoing embodiments: Step S100: Obtain the motor speed of each motor.

[0072] Step S200: Obtain the required torque of the output shaft.

[0073] Step S300: Calculate the rated curve torque of each motor based on the motor speed and the corresponding rated power curve of the motor.

[0074] In step S400, according to the principle of prioritizing the allocation of motors that have already output torque but have not yet reached the rated curve torque, the required torque is sequentially allocated to several motors so that the output shaft provides the required torque.

[0075] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated here. Embodiments of the present invention also provide a computer-readable storage medium storing a computer program, wherein the computer program is configured to execute a control method for a multi-motor drive structure according to any of the above embodiments when run on a computer or processor.

[0076] Optionally, in this embodiment, the computer program described above may be configured to store a computer program for performing the control method steps in the foregoing embodiments: Step S100: Obtain the motor speed of each motor.

[0077] Step S200: Obtain the required torque of the output shaft.

[0078] Step S300: Calculate the rated curve torque of each motor based on the motor speed and the corresponding rated power curve of the motor.

[0079] In step S400, according to the principle of prioritizing the allocation of motors that have already output torque but have not yet reached the rated curve torque, the required torque is sequentially allocated to several motors so that the output shaft provides the required torque.

[0080] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated here. In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0081] In some embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The system embodiments described above are merely illustrative; for example, the division of modules can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between modules may be electrical or other forms.

[0082] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Furthermore, the functional modules in the various embodiments of the present invention can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or 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 the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0083] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A control method for a multi-motor drive structure, characterized in that, The method is applied to engineering vehicles, which are equipped with a multi-motor drive structure. The multi-motor drive structure includes an output shaft and at least two motors, each of which is mechanically connected to the output shaft. The control method includes: Obtain the motor speed of each of the motors; Obtain the required torque of the output shaft; The rated curve torque of each motor is calculated based on the motor speed and the corresponding rated power curve. According to the principle of prioritizing the allocation of motors that have already output torque but have not yet reached the rated curve torque, the required torque is sequentially allocated to several of the motors, so that the output shaft provides the required torque.

2. The control method for a multi-motor drive structure according to claim 1, characterized in that, The step of sequentially distributing the required torque to a plurality of motors includes: Obtain the positional distribution information of each motor relative to the output shaft; When the position distribution information indicates that the distribution positions of all the motors relative to the output shaft are circumferentially symmetrical, the two motors with circumferential symmetry are divided into the same group, wherein the forces exerted by the two motors in the same group on the output shaft are circumferentially symmetrical along the axis of the output shaft. When there is no motor that has already output torque but has not reached the rated curve torque, priority is given to ensuring that two motors in the same group reach the rated curve torque before redistributing them to motors in other groups.

3. The control method for a multi-motor drive structure according to claim 2, characterized in that, The control method further includes: When both motors in the same group are in the output torque working state, the two motors are controlled to output the same torque on the output shaft.

4. The control method for a multi-motor drive structure according to claim 2, characterized in that, The step of sequentially distributing the required torque to a plurality of motors includes: Record the operating time when each motor outputs torque, and calculate the maximum time difference between the operating times of different motors; When there is no motor that has already output torque and has not reached the rated curve torque, and the priority is not to redistribute the two motors in the same group to motors in other groups after they have reached the rated curve torque, and when the maximum time difference is greater than the first preset time, the required torque is preferentially allocated to the motor with the shortest working time.

5. The control method for a multi-motor drive structure according to claim 4, characterized in that, The step of sequentially distributing the required torque to a plurality of motors includes: When there is no motor that has already output torque and has not reached the rated curve torque, and the principle of prioritizing the allocation of the required torque to the motor with the shortest operating time is not executed, the required torque is preferentially allocated to the motor with the smaller rated curve torque.

6. The control method for a multi-motor drive structure according to claim 1, characterized in that, The step of sequentially distributing the required torque to a plurality of motors includes: Record the operating time when each motor outputs torque, and calculate the maximum time difference between the operating times of different motors; When there is no motor that has already output torque and has not reached the rated curve torque, and when the maximum duration difference is greater than the second preset duration, the required torque is preferentially allocated to the motor with the shortest working duration.

7. The control method for a multi-motor drive structure according to claim 1, characterized in that, The process of obtaining the required torque of the output shaft includes: Obtain the acceleration signal from the accelerator pedal of the engineering vehicle; The required torque is calculated based on the acceleration signal and the motor speed of each motor.

8. A control system, characterized in that, The control system, applied to engineering vehicles, includes a multi-motor drive structure and control device for the engineering vehicle. The multi-motor drive structure includes an output shaft and at least two motors, each of which is mechanically connected to the output shaft. The control device is configured to: Obtain the motor speed of each of the motors; Obtain the required torque of the output shaft; The rated curve torque of each motor is calculated based on the motor speed and the corresponding rated power curve. The required torque is sequentially distributed to several of the motors, so that the output shaft provides the required torque; When distributing the required torque to several motors in sequence, priority is given to distributing the required torque to the motors that have already output torque but have not yet reached the rated curve torque.

9. A terminal 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 control method of the multi-motor drive structure as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, wherein the computer program is configured to execute the control method of the multi-motor drive structure as described in any one of claims 1 to 7 when running on a computer or processor.

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