CN112622635B - Method and device for distributing torque of double motors - Google Patents

Method and device for distributing torque of double motors Download PDF

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Publication number
CN112622635B
CN112622635B CN202011546896.5A CN202011546896A CN112622635B CN 112622635 B CN112622635 B CN 112622635B CN 202011546896 A CN202011546896 A CN 202011546896A CN 112622635 B CN112622635 B CN 112622635B
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torque
torque distribution
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motor
pair
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CN112622635A (en
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钟田财
何艳则
李敏
柳鸿鑫
庞晶
高月仙
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Chery Automobile Co Ltd
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Chery Automobile Co Ltd
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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
    • 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
    • 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
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility

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  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
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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

Method and device for distributing torque of double motors
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 includes 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 lost power comprises 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.
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 multiple 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 includes 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 loss power MAP of the second motor according to a second rotating speed and a second torque corresponding to the second motor to obtain the electric loss power 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 on the basis of 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
Figure BDA0002856624180000061
If it will be
Figure BDA0002856624180000062
As the first torque componentA distribution coefficient matrix, the second torque distribution coefficient matrix is
Figure BDA0002856624180000063
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 second preset values at intervals from the driving speed range of the vehicle as reference speeds, and forming a reference speed matrix based on the reference speeds. And selecting a plurality of wheel end torques with a third preset value at intervals as reference wheel end torques in 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
Figure BDA0002856624180000071
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
Figure BDA0002856624180000072
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 MAP of the electrical power loss of the first electrical machine is detected by the technician 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 MAP of the electromotive power loss of the second motor is a relationship among the rotational speed, torque, and electromotive power loss of the second motor. 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 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 graph of the second motor through a second rotating speed corresponding to the second motor to obtain the electric 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 includes gearbox power loss; and interpolating in a transmission loss power MAP (MAP) by referring to the speed and the wheel end torque to obtain the transmission loss power.
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 isLOSSDenotes 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 power loss caused by the electric motor and the power loss caused by the drag of the first electric motor, the power loss caused by the electric motor and the power loss caused by the drag of the second electric motor, and the power loss caused by the transmission. 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 motor 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 motor is obtained based on 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
Figure BDA0002856624180000091
Calculating a torque of a 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
Figure BDA0002856624180000092
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, of the target torque distribution pairMOt2Indicating a preset second speed ratio.
In a dual-motor system, the torque distribution scheme based on the minimum total loss power has obvious advantages, the braking energy can be recovered to the maximum extent on the premise of ensuring effective driving, and 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 with the minimum 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 on the basis of 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 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, there is also provided a computer-readable storage medium, such as a memory including program code, which is executable by a processor in a terminal or a server to perform the media asset playing method in the above embodiment. 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 intended only to illustrate the alternative embodiments of the present application, and should not be construed as limiting the present application, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (8)

1. A method of dual motor torque distribution, the method comprising:
providing a plurality of torque distribution pairs, comprising: 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
Figure FDA0003593494120000011
Will be provided with
Figure FDA0003593494120000012
As a first torque distribution coefficient matrix, will
Figure FDA0003593494120000013
As a second torque distribution coefficient matrix, where m is a positive integer, the nth bit in the first torque distribution coefficient matrix corresponds to the nth bit in the second torque distribution coefficient matrix and forms a torque distribution pair, and n is greater than or equal to 1 and less than or equal to m + 1; each torque distribution pair comprises a first torque distribution coefficient corresponding to the first motor and a second torque distribution coefficient corresponding to the second motor;
the method comprises the steps of obtaining a running speed range and a wheel end torque range of a vehicle, selecting a plurality of speeds with second preset values at intervals from the running speed range as reference speeds, forming a reference speed matrix based on the plurality of reference speeds, selecting a plurality of wheel end torques with third preset values at intervals from the wheel end torque range as reference wheel end torques, and forming a reference wheel end torque set based on the plurality of reference wheel end torques;
pairing all the reference speeds in the reference speed matrix and all the reference wheel end torques in the reference wheel end torque matrix to obtain a plurality of reference pairs;
for each of the plurality of reference pairs, 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 corresponding to each of the torque distribution pairs under the reference pair based on the reference speed and the reference wheel end torque in the reference pair, each of the torque distribution pairs and a preset first speed ratio and second speed ratio; and determining a total power loss for each of the torque distribution pairs for the reference pair based on the reference speed and the reference wheel end torque in the reference pair, the first rotational speed and the first torque of the first electric machine for each of the torque distribution pairs, and the second rotational speed and the second torque of the second electric machine for each of the torque distribution pairs; wherein the total loss power comprises the dragging loss power of the first motor, the dragging loss power of the second motor and the gearbox loss power, wherein the dragging loss power of the dragged motor is the power lost when another motor drags the dragged motor, the torque of the dragged motor is 0 and the rotating speed is not 0, and the rotating speed of the dragged motor is generated due to dragging; the gearbox power loss is the power loss when electric energy is converted into heat energy in the running process of the gearbox;
determining a torque distribution pair with the minimum corresponding total loss power as a reference torque distribution pair corresponding to the reference pair in a plurality of total power losses respectively corresponding to the plurality of torque distribution pairs, so as to obtain a reference torque distribution pair corresponding to each of the plurality of reference pairs, and obtain a corresponding relation between a reference speed and a reference wheel end torque in each of the plurality of reference pairs and the reference torque distribution pair corresponding to the reference pair;
storing a correspondence between a reference speed and a reference wheel end torque in each of the plurality of reference pairs and a reference torque distribution pair to which the reference pair corresponds in a torque distribution MAP;
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 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.
3. The method of claim 2, wherein the total power loss comprises a motoring power loss of the second electrical 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.
4. The method of claim 3, wherein when the torque of the first electric machine is 0, the first electric machine is interpolated from a MAP of the first electric machine's drag loss power by a corresponding first speed of the first electric machine to obtain the first electric machine's drag loss power.
5. The method according to claim 4, wherein when the torque of the second electric machine is 0, the electromotive loss power of the second electric machine is obtained by interpolating in a MAP of the drag loss power of the second electric machine by a second rotation speed corresponding to the second electric machine.
6. The method of claim 5, wherein said transmission power loss is interpolated in said MAP from said reference speed and said reference wheel end torque.
7. The method of claim 6, 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.
8. A dual motor torque distribution apparatus, comprising:
a determination module configured to: providing a plurality of torque distribution pairs, comprising: 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
Figure FDA0003593494120000031
Will be provided with
Figure FDA0003593494120000032
As a first torque distribution coefficient matrix, will
Figure FDA0003593494120000033
As a second torque distribution coefficient matrix, where m is a positive integer, the nth bit in the first torque distribution coefficient matrix corresponds to the nth bit in the second torque distribution coefficient matrix and forms a torque distribution pair, and n is greater than or equal to1 to m + 1; wherein each of the torque distribution pairs comprises a first torque distribution coefficient for the first motor and a second torque distribution coefficient for the second motor;
the method comprises the steps of obtaining a running speed range and a wheel end torque range of a vehicle, selecting a plurality of speeds with second preset values at intervals from the running speed range as reference speeds, forming a reference speed matrix based on the plurality of reference speeds, selecting a plurality of wheel end torques with third preset values at intervals from the wheel end torque range as reference wheel end torques, and forming a reference wheel end torque set based on the plurality of reference wheel end torques;
pairing all the reference speeds in the reference speed matrix and all the reference wheel end torques in the reference wheel end torque matrix to obtain a plurality of reference pairs;
for each of the plurality of reference pairs, 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 corresponding to each torque distribution pair under the reference pair based on a reference speed and the reference wheel end torque in the reference pair, each torque distribution pair and a preset first speed ratio and second speed ratio; and determining total loss power corresponding to each torque distribution pair under the reference pair respectively based on the reference speed and the reference wheel end torque in the reference pair, the first rotating speed and the first torque of the first motor corresponding to each torque distribution pair respectively and the second rotating speed and the second torque of the second motor, wherein the total loss power comprises drag loss power of the first motor, drag loss power of the second motor and gearbox loss power, the drag loss power of the dragged motor is power lost when the other motor drags the dragged motor, the torque of the dragged motor is 0 and the rotating speed is not 0, and the rotating speed of the dragged motor is generated due to dragging; the gearbox power loss is the power loss when electric energy is converted into heat energy in the running process of the gearbox;
determining a torque distribution pair with the minimum corresponding total loss power as a reference torque distribution pair corresponding to the reference pair in a plurality of total power losses respectively corresponding to the plurality of torque distribution pairs, so as to obtain a reference torque distribution pair corresponding to each of the plurality of reference pairs, and obtain a corresponding relation between a reference speed and a reference wheel end torque in each of the plurality of reference pairs and the reference torque distribution pair corresponding to the reference pair; and the number of the first and second groups,
storing a correspondence between the reference speed and the reference wheel end torque in each of the plurality of reference pairs and the reference torque distribution pair to which the reference pair corresponds in a torque distribution MAP;
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.
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