CN112622635A - Method and device for distributing torque of double motors - Google Patents
Method and device for distributing torque of double motors Download PDFInfo
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- CN112622635A CN112622635A CN202011546896.5A CN202011546896A CN112622635A CN 112622635 A CN112622635 A CN 112622635A CN 202011546896 A CN202011546896 A CN 202011546896A CN 112622635 A CN112622635 A CN 112622635A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
- B60L15/38—Control or regulation of multiple-unit electrically-propelled vehicles with automatic control
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
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- Y02T10/64—Electric machine technologies in electromobility
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Abstract
The application discloses a method and a device for distributing double-motor torque, and belongs to the technical field of vehicle control. The method comprises the following steps: acquiring a target speed and a target wheel end torque of a target vehicle; interpolating in a pre-stored torque distribution MAP (MAP) according to the target speed and the target wheel end torque of the target vehicle to obtain a target torque distribution pair, wherein the target torque distribution pair is the torque distribution pair with the minimum corresponding total loss power under the target speed and the target wheel end torque; distributing torque to a first target motor and a second target motor of the target vehicle based on a first target torque distribution coefficient and a second target torque distribution coefficient in the target torque distribution pair. In the application, the target vehicle can distribute the torque through the first target torque distribution coefficient and the second target torque distribution coefficient in the target torque distribution pair, the loss power of the target vehicle at the target speed is minimum, and the waste of energy is reduced.
Description
Technical Field
The application relates to the technical field of vehicle control, in particular to a method and a device for distributing torque of double motors.
Background
In order to meet the national requirements of energy conservation and emission reduction, the electrification of automobiles is rapidly developed, and the market share of hybrid electric vehicles is increased year by year. Hybrid systems are commonly referred to as single-motor, dual-motor solutions. Wherein the dual motor scheme can distribute the power demand between the two motors.
In the related art, in order to maximize the operation effect of the vehicle, the target vehicle often adopts a motor torque distribution method corresponding to the maximum efficiency to distribute the torque of the motor.
However, when the target vehicle distributes the torque of the motor according to the motor torque distribution method of the maximum efficiency, the energy loss of the target vehicle is not minimum at this time, thereby causing a waste of energy.
Disclosure of Invention
The embodiment of the application provides a method and a device for distributing double-motor torque, which can minimize the loss power of a vehicle. The technical scheme is as follows:
in one aspect, an embodiment of the present application provides a method for dual-motor torque distribution, where the method includes:
acquiring a target speed and a target wheel end torque of a target vehicle;
interpolating in a pre-stored torque distribution MAP (MAP) according to the target speed and the target wheel end torque of the target vehicle to obtain a target torque distribution pair, wherein the target torque distribution pair is the torque distribution pair with the minimum corresponding total loss power under the target speed and the target wheel end torque;
distributing torque to a first target motor and a second target motor of the target vehicle based on a first target torque distribution coefficient and a second target torque distribution coefficient in the target torque distribution pair.
Optionally, before obtaining the target speed and the target wheel-end torque of the target vehicle, the method further includes:
acquiring a reference speed, a reference wheel end torque and a plurality of torque distribution pairs, wherein each torque distribution pair comprises a first torque distribution coefficient corresponding to a first motor and a second torque distribution coefficient corresponding to a second motor;
determining a first rotating speed and a first torque of the first motor and a second rotating speed and a second torque of the second motor respectively corresponding to each torque distribution pair based on a reference speed, a reference wheel end torque, each torque distribution pair and a preset first speed ratio and second speed ratio;
determining total power loss corresponding to each torque distribution pair based on the reference speed, the reference wheel end torque and the first rotating speed and the first torque of the first motor and the second rotating speed and the second torque of the second motor corresponding to each torque distribution pair respectively;
determining a reference torque distribution pair with the minimum corresponding total loss power in total power loss respectively corresponding to the torque distribution pairs, and obtaining a corresponding relation among the reference torque distribution pair, the reference speed and the reference wheel end torque;
storing the reference torque distribution pair, the reference speed, and the reference wheel end torque in a torque distribution MAP.
Optionally, the total power loss comprises an electromotive power loss of the first motor;
and interpolating in an electric power loss MAP of the first motor according to a first rotating speed and a first torque corresponding to the first motor to obtain the electric power loss of the first motor.
Optionally, the total power loss includes an electromotive power loss of the second motor;
and interpolating in the electric power loss MAP of the second motor according to a second rotating speed and a second torque corresponding to the second motor to obtain the electric power loss of the second motor.
Optionally, the total power loss comprises a power loss due to drag of the first electric machine;
and when the torque of the first motor is 0, interpolating in a drag loss power MAP of the first motor according to a first rotating speed corresponding to the first motor to obtain the drag loss power of the first motor.
Optionally, the total power loss comprises a power loss due to drag of the second electric machine;
and when the torque of the second motor is 0, interpolating in a drag loss power MAP of the second motor according to a second rotating speed corresponding to the second motor to obtain the electric loss power of the second motor.
Optionally, the total power loss comprises transmission power loss;
and interpolating in the transmission loss power MAP according to the reference speed and the reference wheel end torque to obtain the transmission loss power.
Optionally, the method further includes:
and adding the electric loss power and the drag loss power of the first motor, the electric loss power and the drag loss power of the second motor and the gearbox loss power to obtain total loss power.
In one aspect, an embodiment of the present application provides a dual-motor torque distribution device, including:
an acquisition device configured to acquire a target speed and a target wheel-end torque of a target vehicle;
the obtaining module is configured to perform interpolation in a pre-stored torque distribution MAP (MAP) according to a target speed and a target wheel end torque of the target vehicle to obtain a target torque distribution pair, wherein the target torque distribution pair is the torque distribution pair with the minimum corresponding total loss power under the target speed and the target wheel end torque;
a distribution module configured to distribute torque to a first target motor and a second target motor of the target vehicle based on a first target torque distribution coefficient and a second target torque distribution coefficient in the target torque distribution pair.
Optionally, the apparatus further comprises a determining module configured to:
acquiring a reference speed, a reference wheel end torque and a plurality of torque distribution pairs, wherein each torque distribution pair comprises a first torque distribution coefficient corresponding to a first motor and a second torque distribution coefficient corresponding to a second motor;
determining a first rotating speed and a first torque of the first motor and a second rotating speed and a second torque of the second motor respectively corresponding to each torque distribution pair based on a reference speed, a reference wheel end torque, each torque distribution pair and a preset first speed ratio and second speed ratio;
determining total power loss corresponding to each torque distribution pair based on the reference speed, the reference wheel end torque and the first rotating speed and the first torque of the first motor and the second rotating speed and the second torque of the second motor corresponding to each torque distribution pair respectively;
determining a reference torque distribution pair with the minimum corresponding total loss power in total power loss respectively corresponding to the torque distribution pairs, and obtaining a corresponding relation among the reference torque distribution pair, the reference speed and the reference wheel end torque;
storing the reference torque distribution pair, the reference speed, and the reference wheel end torque in a torque distribution MAP.
Optionally, the total power loss comprises an electromotive power loss of the first motor;
and interpolating in an electric power loss MAP of the first motor according to a first rotating speed and a first torque corresponding to the first motor to obtain the electric power loss of the first motor.
Optionally, the total power loss includes an electromotive power loss of the second motor;
and interpolating in the electric power loss MAP of the second motor according to a second rotating speed and a second torque corresponding to the second motor to obtain the electric power loss of the second motor.
Optionally, the total power loss comprises a power loss due to drag of the first electric machine;
and when the torque of the first motor is 0, interpolating in a drag loss power MAP of the first motor according to a first rotating speed corresponding to the first motor to obtain the drag loss power of the first motor.
Optionally, the total power loss comprises a power loss due to drag of the second electric machine;
and when the torque of the second motor is 0, interpolating in a drag loss power MAP of the second motor according to a second rotating speed corresponding to the second motor to obtain the electric loss power of the second motor.
Optionally, the total power loss comprises transmission power loss;
and interpolating in the transmission power MAP according to the reference speed and the reference wheel end torque to obtain the transmission power loss.
Optionally, the apparatus further includes an adding module, where the adding module includes:
and adding the electric loss power and the drag loss power of the first motor, the electric loss power and the drag loss power of the second motor and the gearbox loss power to obtain total loss power.
In the technical solution provided in the embodiment of the present application, since the target torque distribution pair is a torque distribution pair having the smallest corresponding total power loss at the target speed and the target wheel end torque, the target wheel end torque is distributed through a first target torque coefficient and a second target torque coefficient in the target torque pair, and the torque of the first target motor and the torque of the second target motor are determined. Under the condition of the target speed and the target wheel end torque of the target vehicle, namely on the premise that the total power of the target vehicle is fixed, the total loss power of the motor in the target vehicle is minimum, and the waste of energy is reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of a method for dual motor torque distribution provided by an embodiment of the present application;
FIG. 2 is a schematic diagram of a dual motor torque distribution provided by an embodiment of the present application;
fig. 3 is a schematic structural diagram of a dual-motor torque distribution device provided in an embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
Fig. 1 is a flowchart of a method for distributing torque of two motors according to an embodiment of the present disclosure. Referring to fig. 1, the embodiment includes:
and step 101, acquiring a target speed and a target wheel end torque of a target vehicle.
Wherein the target vehicle is a current running vehicle. The target speed is a current speed of the target vehicle, which is a speed during driving. The target wheel end torque is the wheel end torque of the target vehicle.
In implementation, the target vehicle reads the value of a wheel speed sensor mounted on the target vehicle to acquire the rotational speed of the wheels on the target vehicle, thereby calculating the target speed of the target vehicle. The target wheel end torque of the target vehicle is stored in the target vehicle in advance, and when the target vehicle requires the target wheel end torque, the target wheel end torque of the target vehicle can be directly read.
It should be noted that when the speed and wheel end torque of the target vehicle are fixed, the total power of the target vehicle is also fixed.
And 102, interpolating in a pre-stored torque distribution MAP (MAP of torque distribution) according to the target speed and the target wheel end torque of the target vehicle to obtain a target torque distribution pair.
The target torque distribution pair is the torque distribution pair with the minimum corresponding total loss power at the target speed and the target wheel end torque. The pre-stored torque distribution MAP is a MAP of the relationship between speed, wheel end torque, and the corresponding torque share pair for which total power loss is minimal at that speed and wheel end torque.
In implementation, after the target speed and the target wheel end torque of the target vehicle are obtained, the target torque distribution pair corresponding to the target speed and the target wheel end torque together can be found in the pre-stored torque distribution MAP, that is, the pre-stored torque distribution MAP is interpolated to obtain the target torque distribution pair.
Optionally, the step of determining the torque distribution MAP is: acquiring a reference speed, a reference wheel end torque and a plurality of torque distribution pairs, wherein each torque distribution pair comprises a first torque distribution coefficient corresponding to a first motor and a second torque distribution coefficient corresponding to a second motor; determining a first rotating speed and a first torque of a first motor and a second rotating speed and a second torque of a second motor respectively corresponding to each torque distribution pair based on the reference speed, the reference wheel end torque, each torque distribution pair and a preset first speed ratio and second speed ratio; determining total loss power respectively corresponding to each torque distribution pair based on the reference speed, the reference wheel end torque and a first rotating speed and a first torque of the first motor and a second rotating speed and a second torque of the second motor respectively corresponding to each torque distribution pair; determining a reference torque distribution pair with the minimum corresponding total loss power in total power loss respectively corresponding to the torque distribution pairs, and obtaining a corresponding relation among the reference torque distribution pair, the reference speed and the reference wheel end torque; the correspondence of the reference torque distribution pairs, the reference speed, and the reference wheel-end torque is stored in the torque distribution MAP.
The sum of the first torque distribution coefficient and the second torque distribution coefficient in the plurality of torque distribution pairs is 1, namely the value range of the first torque distribution coefficient is 0 to 1, and the value range of the second torque distribution coefficient is 0 to 1. The step of setting a plurality of torque distribution pairs may be: selecting a plurality of first torque distribution coefficients with a first preset value in the value range of the first torque distribution coefficients, determining a second torque distribution coefficient corresponding to each first torque distribution coefficient based on each first torque distribution coefficient and the sum of the first torque distribution coefficient and the second torque distribution coefficient being 1, and combining each first torque distribution coefficient and the second torque distribution coefficient corresponding to each first torque distribution coefficient to obtain a plurality of torque distribution pairs.
Meanwhile, the step of setting a plurality of torque distribution pairs may further be: the number of preset torque distribution pairs is m +1, and [0, 1, 2, 3 … … m ]]Each bit in (1) is divided by m to obtain
If it will be
As the first torque distribution coefficient matrix, the second torque distribution coefficient matrix is
The nth bit in the first torque distribution matrix corresponds to the nth bit in the second torque distribution matrix, and n is greater than or equal to 1 and less than or equal to m + 1.
In an implementation, a travel speed range of the vehicle is determined and a wheel end torque range is determined based on wheel end torques of all vehicles. And selecting a plurality of speeds with a second preset value at intervals as reference speeds within the running speed range of the vehicle, and forming a reference speed matrix based on the reference speeds. And selecting a plurality of wheel end torques with a third preset value as reference wheel end torques within the wheel end torque range, and forming a reference wheel end torque set based on the reference wheel end torques. All reference speeds in the reference speed matrix are paired with all reference wheel end torques in the reference wheel end torque matrix to obtain a plurality of reference pairs. During the bench test, one reference pair is selected from a plurality of reference pairs, and a reference speed and a reference wheel end torque in the reference pair are obtained. For each of the plurality of torque distribution pairs, a first rotational speed and a first torque of the first electric machine are obtained based on the reference speed, the reference wheel end torque, a first torque distribution coefficient of the torque distribution pair, and the first speed ratio. A second rotational speed and a second torque of the second electric machine are obtained based on the reference speed, the reference wheel end torque, a second torque split coefficient in the torque split pair, and a second speed ratio. Determining total loss power respectively corresponding to each torque distribution pair based on the reference speed, the reference wheel end torque and a first rotating speed and a first torque of the first motor and a second rotating speed and a second torque of the second motor respectively corresponding to each torque distribution pair; determining a reference torque distribution pair with the minimum corresponding total loss power in total power loss respectively corresponding to the torque distribution pairs, and obtaining a corresponding relation among the reference torque distribution pair, a reference speed in the reference pair and a reference wheel end torque; the correspondence of the reference torque distribution pairs, the reference speed, and the reference wheel-end torque is stored in the torque distribution MAP.
For example, the reference velocity matrix V ═ V1，V2，V3……VX]The reference wheel end torque matrix T ═ T1，T2，T3……TY]Where X represents the number of reference speeds and Y represents the number of wheel end torques. Suppose that V is selected from the reference velocity matrix1Selected in the reference wheel end torque matrix is T1And a first torque distribution coefficient C in the torque distribution pair1And a second torque distribution coefficient C2. According to the formula
Calculating a first torque of the first electric machine, wherein TMOt1Representing a first torque, T, of the first electric machine1Representing reference wheel end torque, C1Representing a first torque distribution coefficient, IMOt1Indicating a preset first speed ratio. According to the formula
Calculating a second torque of the second electric machine, wherein TMOt2Representing a second torque, T, of the second electric machine1Representing reference wheel end torque, C2Representing the second torque distribution coefficient, IMOt2Indicating a preset second speed ratio. Will refer to the velocity V1To a first speed ratio IMOt1And multiplying to obtain the first rotating speed of the first motor. Will refer to the velocity V1With a second speed ratio IMOt2And multiplying to obtain a second rotating speed of the second motor.
It should be noted that, in an actual process, the torque distribution MAP may be determined based on a correspondence relationship among the first torque distribution coefficient or the second torque distribution coefficient in the reference torque distribution pair, the reference speed, and the reference wheel end torque, where the correspondence relationship among the three is shown in fig. 2.
Optionally, the total power loss comprises an electromotive power loss of the first motor; and interpolating in the electric power loss MAP of the first motor according to the first rotating speed and the first torque corresponding to the first motor to obtain the electric power loss of the first motor.
The motor loss MAP of the first motor is a relationship MAP between the rotational speed, torque, and motor loss of the first motor. The motoring loss power MAP of the first electrical machine is detected by the skilled person during the course of the experiment. The electric power loss of the first motor is the loss power when the electric energy is converted into heat energy in the running process of the first motor.
Optionally, the total power loss comprises an electromotive power loss of the second electric machine; and interpolating in the electric power loss MAP of the second motor according to the second rotating speed and the second torque corresponding to the second motor to obtain the electric power loss of the second motor.
The motor loss MAP of the second electric machine is a relationship MAP between the rotational speed, torque, and motor loss of the second electric machine. The MAP of the motoring loss power MAP of the second electrical machine is preset by the technician. The electric power loss of the second motor is the loss power when the electric energy is converted into heat energy in the running process of the second motor.
Optionally, the total power loss comprises a power loss due to drag of the first electric machine; when the torque of the first motor is 0, interpolation is carried out in a drag loss power MAP of the first motor according to the first rotating speed corresponding to the first motor, and drag loss power of the first motor is obtained.
The dragging loss power of the first motor is the power lost when the second motor drags the first motor under the condition that the torque of the first motor is 0, and the first rotating speed corresponding to the first motor is the rotating speed generated when the second motor drags the first motor.
Optionally, the total power loss comprises a power loss due to drag of the second electric machine; and when the torque of the second motor is 0, interpolating in a drag loss power MAP of the second motor through a second rotating speed corresponding to the second motor to obtain the electric power loss power of the second motor.
The dragging loss power of the second motor is the power lost when the first motor drags the second motor under the condition that the torque of the second motor is 0, and the second rotating speed corresponding to the second motor is the rotating speed generated when the first motor drags the second motor.
Optionally, the total power loss comprises gearbox power loss; and interpolating in a MAP of the gearbox power loss through the reference speed and the reference wheel end torque to obtain the gearbox power loss.
The gearbox power loss is the power loss when the electric energy is converted into heat energy in the operation process of the gearbox.
Optionally, the electric power loss and the drag power loss of the first motor, the electric power loss and the drag power loss of the second motor, and the transmission power loss are added to obtain a total power loss.
For example, PLOSS＝PLOSSMot1+PLOSSMot2+PLOSSDrag+PLOSSTransWherein P isLOSSRepresenting the total power loss, PLOSSMot1Representing the electromotive power loss, P, of the first motorLOSSMot2Representing the electromotive power loss, P, of the second motorLOSSDragIndicating drag loss power, PLOSSTransRepresenting the gearbox lost power.
It should be noted that, in the embodiment of the present application, the total power loss is composed of the electromotive power loss and the drag power loss of the first electric machine, the electromotive power loss and the drag power loss of the second electric machine, and the transmission power loss. Therefore, all the loss power of the target vehicle in the driving process is comprehensively considered, and the determined total loss power is more accurate.
And 103, distributing the torques to the first target motor and the second target motor of the target vehicle according to the first target torque distribution coefficient and the second target torque distribution coefficient in the target torque distribution pair and the target wheel end torque.
In implementation, the torque of the first target electric machine is obtained based on the target wheel end torque, a first target torque distribution coefficient in the target torque distribution pair, and a first speed ratio, and the torque of the second target electric machine is obtained using the target wheel end torque, a second target torque distribution coefficient in the target torque distribution pair, and a second speed ratio. In this way, torque is distributed to the first target motor and the second target motor of the target vehicle.
In particular, according to the formula
Calculating a torque of the first target motor, wherein T1Representing the torque of the first electrical machine, T representing the target wheel end torque, C11Representing a first target torque distribution coefficient, I, in the target torque distribution pairMOt1Indicating a preset first speed ratio. According to the formula
Calculating a second torque of a second target motor, wherein T2Representing a second torque of a second target motor, T representing a target wheel end torque, C22Representing a second target torque distribution coefficient, I, in the target torque distribution pairMOt2Indicating a preset second speed ratio.
In a double-motor system, the torque distribution scheme based on the minimum total loss power has obvious advantages, and on the premise of ensuring effective driving, the braking energy can be recovered to the maximum extent, so that the driving mileage of the vehicle is effectively improved.
In the technical solution provided in the embodiment of the present application, since the target torque distribution pair is a torque distribution pair having the smallest corresponding total power loss at the target speed and the target wheel end torque, the target wheel end torque is distributed through a first target torque coefficient and a second target torque coefficient in the target torque pair, and the torque of the first target motor and the torque of the second target motor are determined. At the target speed and target wheel end torque of the target vehicle, the total power loss of the motor in the target vehicle is minimized, and the waste of energy is reduced.
Fig. 3 is a schematic structural diagram of a dual-motor torque distribution device provided in an embodiment of the present application, and referring to fig. 3, the device includes:
an acquisition device 310 configured to acquire a target speed and a target wheel-end torque of a target vehicle;
a obtaining module 320 configured to perform interpolation in a pre-stored torque distribution MAP according to a target speed and a target wheel end torque of a target vehicle to obtain a target torque distribution pair, where the target torque distribution pair is a torque distribution pair with the minimum corresponding total power loss at the target speed and the target wheel end torque;
a distribution module 330 configured to distribute torque to the first target motor and the second target motor of the target vehicle based on the first target torque distribution coefficient and the second target torque distribution coefficient in the target torque distribution pair.
Optionally, the apparatus further comprises a determining module configured to:
acquiring a reference speed, a reference wheel end torque and a plurality of torque distribution pairs, wherein each torque distribution pair comprises a first torque distribution coefficient corresponding to a first motor and a second torque distribution coefficient corresponding to a second motor;
determining a first rotating speed and a first torque of a first motor and a second rotating speed and a second torque of a second motor respectively corresponding to each torque distribution pair based on the reference speed, the reference wheel end torque, each torque distribution pair and a preset first speed ratio and second speed ratio;
determining total loss power respectively corresponding to each torque distribution pair based on the reference speed, the reference wheel end torque and a first rotating speed and a first torque of the first motor and a second rotating speed and a second torque of the second motor respectively corresponding to each torque distribution pair;
determining a reference torque distribution pair with the minimum corresponding total loss power in total power loss respectively corresponding to the torque distribution pairs, and obtaining a corresponding relation among the reference torque distribution pair, the reference speed and the reference wheel end torque;
storing the reference torque distribution pair, the reference speed, and the reference wheel end torque in a torque distribution MAP.
Optionally, the total power loss comprises an electromotive power loss of the first motor;
and interpolating in the electric power loss MAP of the first motor according to the first rotating speed and the first torque corresponding to the first motor to obtain the electric power loss of the first motor.
Optionally, the total power loss comprises an electromotive power loss of the second motor;
and interpolating in the electric power loss MAP of the second motor through a second rotating speed and a second torque corresponding to the second motor to obtain the electric power loss of the second motor.
Optionally, the total power loss comprises a power loss due to drag of the first electric machine;
when the torque of the first motor is 0, interpolation is carried out in a drag loss power MAP of the first motor according to the first rotating speed corresponding to the first motor, and drag loss power of the first motor is obtained.
Optionally, the total power loss comprises a power loss due to drag of the second electric machine;
and when the torque of the second motor is 0, interpolating in a drag loss power MAP of the second motor through a second rotating speed corresponding to the second motor to obtain the electric power loss power of the second motor.
Optionally, the total power loss comprises gearbox power loss;
and interpolating in a transmission loss power MAP graph through the reference speed and the reference wheel end torque to obtain the transmission loss power.
Optionally, the apparatus further includes an adding module, where the adding module includes:
and adding the electric loss power and the drag loss power of the first motor, the electric loss power and the drag loss power of the second motor and the transmission loss power to obtain total loss power.
In an exemplary embodiment, a computer readable storage medium, such as a memory including a program code, which is executable by a processor in a terminal or a server to perform the media asset playing method in the above embodiments, is also provided. For example, the computer-readable storage medium may be a read-only memory (ROM), a Random Access Memory (RAM), a compact-disc read-only memory (cd-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by hardware associated with program code, and the program may be stored in a computer readable storage medium, and the above mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only exemplary of the present application and should not be taken as limiting, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. A method of dual motor torque distribution, the method comprising:
acquiring a target speed and a target wheel end torque of a target vehicle;
interpolating in a pre-stored torque distribution MAP (MAP) according to the target speed and the target wheel end torque of the target vehicle to obtain a target torque distribution pair, wherein the target torque distribution pair is the torque distribution pair with the minimum corresponding total loss power under the target speed and the target wheel end torque;
distributing torque to a first target motor and a second target motor of the target vehicle based on a first target torque distribution coefficient and a second target torque distribution coefficient in the target torque distribution pair.
2. The method of claim 1, wherein prior to obtaining the target speed and the target wheel-end torque of the target vehicle, the method further comprises:
acquiring a reference speed, a reference wheel end torque and a plurality of torque distribution pairs, wherein each torque distribution pair comprises a first torque distribution coefficient corresponding to a first motor and a second torque distribution coefficient corresponding to a second motor;
determining a first rotating speed and a first torque of the first motor and a second rotating speed and a second torque of the second motor respectively corresponding to each torque distribution pair based on a reference speed, a reference wheel end torque, each torque distribution pair and a preset first speed ratio and second speed ratio;
determining total power loss corresponding to each torque distribution pair based on the reference speed, the reference wheel end torque and the first rotating speed and the first torque of the first motor and the second rotating speed and the second torque of the second motor corresponding to each torque distribution pair respectively;
determining a reference torque distribution pair with the minimum corresponding total loss power in total power loss respectively corresponding to the torque distribution pairs, and obtaining a corresponding relation among the reference torque distribution pair, the reference speed and the reference wheel end torque;
storing the reference torque distribution pair, the reference speed, and the reference wheel end torque in a torque distribution MAP.
3. The method of claim 2, wherein the total lost power comprises motoring lost power of the first electric machine;
and interpolating in an electric power loss MAP of the first motor according to a first rotating speed and a first torque corresponding to the first motor to obtain the electric power loss of the first motor.
4. The method of claim 3, wherein the total lost power comprises motoring lost power of the second electric machine;
and interpolating in the electric power loss MAP of the second motor according to a second rotating speed and a second torque corresponding to the second motor to obtain the electric power loss of the second motor.
5. The method of claim 4, wherein the total lost power comprises a drag lost power of the first electric machine;
and when the torque of the first motor is 0, interpolating in a drag loss power MAP of the first motor according to a first rotating speed corresponding to the first motor to obtain the drag loss power of the first motor.
6. The method of claim 5, wherein the total lost power comprises a drag lost power of the second electric machine;
and when the torque of the second motor is 0, interpolating in a drag loss power MAP of the second motor according to a second rotating speed corresponding to the second motor to obtain the electric loss power of the second motor.
7. The method of claim 6, wherein the total power loss comprises transmission power loss;
and interpolating in the transmission loss power MAP according to the reference speed and the reference wheel end torque to obtain the transmission loss power.
8. The method of claim 7, further comprising:
and adding the electric loss power and the drag loss power of the first motor, the electric loss power and the drag loss power of the second motor and the transmission loss power to obtain the total loss power.
9. A dual motor torque distribution apparatus, comprising:
an acquisition device configured to acquire a target speed and a target wheel-end torque of a target vehicle;
the obtaining module is configured to perform interpolation in a pre-stored torque distribution MAP (MAP) according to a target speed and a target wheel end torque of the target vehicle to obtain a target torque distribution pair, wherein the target torque distribution pair is the torque distribution pair with the minimum corresponding total loss power under the target speed and the target wheel end torque;
a distribution module configured to distribute torque to a first target motor and a second target motor of the target vehicle based on a first target torque distribution coefficient and a second target torque distribution coefficient in the target torque distribution pair.
10. The apparatus of claim 9, further comprising a determination module configured to:
acquiring a reference speed, a reference wheel end torque and a plurality of torque distribution pairs, wherein each torque distribution pair comprises a first torque distribution coefficient corresponding to a first motor and a second torque distribution coefficient corresponding to a second motor;
determining a first rotational speed and a first torque of the first electric machine and a second rotational speed and a second torque of the second electric machine, respectively, for each torque distribution pair based on a reference speed, a reference wheel end torque, and each torque distribution pair;
determining total power loss corresponding to each torque distribution pair based on the reference speed, the reference wheel end torque and the first rotating speed and the first torque of the first motor and the second rotating speed and the second torque of the second motor corresponding to each torque distribution pair respectively;
determining a reference torque distribution pair with the minimum corresponding total loss power in total power loss respectively corresponding to the torque distribution pairs, and obtaining a corresponding relation among the reference torque distribution pair, the reference speed and the reference wheel end torque;
storing the reference torque distribution pair, the reference speed, and the reference wheel end torque in a torque distribution MAP.
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