CN114312354B - Dual-motor torque control method, device and computer-readable storage medium - Google Patents
Dual-motor torque control method, device and computer-readable storage medium Download PDFInfo
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- CN114312354B CN114312354B CN202210032873.5A CN202210032873A CN114312354B CN 114312354 B CN114312354 B CN 114312354B CN 202210032873 A CN202210032873 A CN 202210032873A CN 114312354 B CN114312354 B CN 114312354B
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Abstract
The application discloses a double-motor torque control method and device and a computer readable storage medium, and relates to the field of motor control. The method comprises the steps of obtaining pedal information and gear information of a gearbox, and obtaining torque information of a main motor and torque information of an auxiliary motor; controlling the main motor and the auxiliary motor to output the required torque of the vehicle under the preset condition according to the pedal information and the gear information, and the torque information of the main motor and the torque information of the auxiliary motor; the preset condition is that the vehicle is in a preset gear, the vehicle is in a preset speed or the vehicle is in an energy recovery state. Therefore, the scheme can output the required torque of the vehicle under different conditions by acquiring the pedal information and the gear information of the vehicle, so that the whole vehicle torque distribution is reasonable, and the whole vehicle energy consumption is reduced.
Description
Technical Field
The present application relates to the field of motor control, and in particular, to a dual-motor torque control method, apparatus, and computer readable storage medium.
Background
At present, the heavy truck has heavier operation load, the full load state can reach more than 49 tons, the operation working condition is more complex, and the common gear of the gearbox used for generally running in mines, wharfs, urban residue-soil vehicles and the like is more, and is commonly in 9 gears, 12 gears, 14 gears, 16 gears and the like. Because the pure electric heavy truck uses motor drive, the rotational speed interval of motor is great, and the gearbox more than 9 keeps off to pure electric heavy truck, keeps off the position and causes the cost to be higher and many gear gearbox control leads to control more complicacy, and driving smoothness and driving travelling comfort can not be guaranteed, so adopts two motor control.
In the prior art, the working mode of controlling the double motors is to control the driving of the main motor or the simultaneous driving of the main motor and the auxiliary motor, the torque distribution under different driving scenes is not considered, the whole vehicle torque distribution is unreasonable and the energy consumption is higher.
In view of the above problems, designing a dual-motor torque control method for reasonably distributing the torque of the whole vehicle and reducing the energy consumption of the whole vehicle is a problem to be solved by those skilled in the art.
Disclosure of Invention
The application aims to provide a double-motor torque control method, a double-motor torque control device and a computer readable storage medium, which are used for reasonably distributing the torque of a whole vehicle and reducing the energy consumption of the whole vehicle.
In order to solve the technical problems, the application provides a dual-motor torque control method, which comprises the following steps:
Acquiring pedal information and gear information of a gearbox, and acquiring torque information of a main motor and torque information of an auxiliary motor;
Controlling the main motor and the auxiliary motor to output the required torque of the vehicle under the preset condition according to the pedal information and the gear information, and the torque information of the main motor and the torque information of the auxiliary motor;
The preset condition is that the vehicle is in a preset gear, the vehicle is in a preset speed or the vehicle is in an energy recovery state.
Preferably, controlling the main motor and the auxiliary motor to output the required torque of the vehicle in the preset gear includes:
if the current gear is confirmed to be in the preset gear according to the gear information, judging whether the required torque is larger than the maximum torque of the main motor or not;
if yes, controlling the main motor and the auxiliary motor to be driven simultaneously so as to output the required torque;
if not, controlling the main motor to drive independently so as to output the required torque.
Preferably, controlling the main motor and the auxiliary motor to output the required torque of the vehicle at the preset vehicle speed includes:
acquiring the current speed of the vehicle;
When the current vehicle speed is smaller than the preset vehicle speed, if the required torque is larger than the maximum torque of the main motor, controlling the main motor and the auxiliary motor to be driven simultaneously so as to output the required torque;
If the required torque is not greater than the maximum torque of the main motor, controlling the main motor to be driven independently so as to output the required torque;
when the current vehicle speed is greater than the preset vehicle speed, if the required torque is greater than the maximum torque of the auxiliary motor, controlling the main motor and the auxiliary motor to be driven simultaneously so as to output the required torque;
And if the required torque is not greater than the maximum torque of the auxiliary motor, controlling the auxiliary motor to be driven independently so as to output the required torque.
Preferably, controlling the main motor and the auxiliary motor to output the required torque of the vehicle in the energy recovery state includes:
When the existence of the opening of the brake pedal is confirmed according to the pedal information, judging whether the absolute value of the required torque is larger than the absolute value of the minimum torque of the auxiliary motor;
If yes, controlling the main motor and the auxiliary motor to be driven simultaneously so as to achieve the required torque for energy recovery, wherein the auxiliary motor carries out energy recovery by the minimum torque of the auxiliary motor;
And if not, controlling the auxiliary motor to drive independently so as to achieve the required torque for energy recovery.
Preferably, when it is determined from the pedal information that there is no brake pedal opening, controlling the main motor and the auxiliary motor to output the required torque of the vehicle in the energy recovery state further includes:
If the current vehicle speed is judged to be in the first interval, controlling the auxiliary motor to be driven independently so as to achieve the required torque for energy recovery;
If the current vehicle speed is judged to be in the second interval, the main motor and the auxiliary motor are controlled to be driven simultaneously so as to achieve the required torque for energy recovery, wherein the main motor is driven by the minimum torque of the main motor for energy recovery;
Wherein the maximum value of the first interval is smaller than the minimum value of the second interval.
Preferably, the method further comprises:
Outputting the current working states of the main motor and the auxiliary motor under the preset condition.
Preferably, the preset gear is 1 gear or 2 gear.
In order to solve the technical problem, the application also provides a dual-motor torque control device, which comprises:
The acquisition module is used for acquiring pedal information and gear information of the gearbox and acquiring torque information of the main motor and torque information of the auxiliary motor;
The control module is used for controlling the main motor and the auxiliary motor to output the required torque of the vehicle under the preset condition according to the pedal information, the gear information, the torque information of the main motor and the torque information of the auxiliary motor;
The preset condition is that the vehicle is in a preset gear, the vehicle is in a preset speed or the vehicle is in an energy recovery state.
In order to solve the above technical problem, the present application further provides another dual-motor torque control device, including:
A memory for storing a computer program;
and the processor is used for realizing the steps of the double-motor torque control method when executing the computer program.
In order to solve the above technical problem, the present application further provides a computer readable storage medium, where a computer program is stored, and the steps of the dual motor torque control method are implemented when the computer program is executed by a processor.
According to the dual-motor torque control method provided by the application, pedal information and gear information of a gearbox are obtained, and torque information of a main motor and torque information of an auxiliary motor are obtained; controlling the main motor and the auxiliary motor to output the required torque of the vehicle under the preset condition according to the pedal information and the gear information, and the torque information of the main motor and the torque information of the auxiliary motor; the preset condition is that the vehicle is in a preset gear, the vehicle is in a preset speed or the vehicle is in an energy recovery state. Therefore, the scheme can output the required torque of the vehicle under different conditions by acquiring the pedal information and the gear information of the vehicle, so that the whole vehicle torque distribution is reasonable, and the whole vehicle energy consumption is reduced.
In addition, the application also provides a double-motor torque control device and a computer readable storage medium, and the effects are the same as the above.
Drawings
For a clearer description of embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described, it being apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to the drawings without inventive effort for those skilled in the art.
FIG. 1 is a flow chart of a dual motor torque control method provided by an embodiment of the present application;
fig. 2 is a schematic structural diagram of a coaxial dual-motor system according to an embodiment of the present application;
FIG. 3 is a flow chart of another dual motor torque control method provided by an embodiment of the present application;
Fig. 4 is a schematic structural diagram of a dual-motor torque control device according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of another dual-motor torque control device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. Based on the embodiments of the present application, all other embodiments obtained by a person of ordinary skill in the art without making any inventive effort are within the scope of the present application.
The core of the application is to provide a double-motor torque control method, a double-motor torque control device and a computer readable storage medium, so that the torque of the whole vehicle is reasonably distributed, and the energy consumption of the whole vehicle is reduced.
In order to better understand the aspects of the present application, the present application will be described in further detail with reference to the accompanying drawings and detailed description.
The motor drive is used in the pure electric heavy truck at present, the rotating speed interval of the motor is larger, the cost is higher due to more gears for the pure electric heavy truck, and the control of the multi-gear gearbox is more complicated, so that the driving smoothness and the driving comfort can not be ensured, and the double-motor control is adopted. Fig. 1 is a flowchart of a dual-motor torque control method provided by an embodiment of the present application, which is mainly applied to a heavy truck with a coaxial dual-motor layout. As shown in fig. 1, the two-motor torque control method includes:
s10: pedal information and gear information of the gearbox are obtained, and torque information of the main motor and torque information of the auxiliary motor are obtained.
S11: controlling the main motor and the auxiliary motor to output the required torque of the vehicle under the preset condition according to the pedal information and the gear information, and the torque information of the main motor and the torque information of the auxiliary motor;
the preset condition is that the vehicle is in a preset gear, the vehicle is in a preset speed or the vehicle is in an energy recovery state.
Fig. 2 is a schematic structural diagram of a coaxial dual-motor system according to an embodiment of the present application. As shown in fig. 2, the front end and the rear end of the gearbox are respectively connected with a motor, the motor at the input end of the gearbox is called a main motor, and the torque of the main motor is amplified and output through the gearbox; the motor of the output shaft of the gearbox is called an auxiliary motor, and the auxiliary motor and the amplified torque of the main motor jointly provide torque for a drive axle. Torque is a special moment that causes an object to rotate. The torque of the motor refers to the torque output by an output shaft of the motor, and the unit is: milk rice (Nm). The gear box usually adopts a 4-gear or 6-gear electric control mechanical automatic gear box (Automated Manual Transmission, AMT), namely an automatic manual gear box, and can realize automatic gear driving, and the gear up and the gear locking driving are carried out by the manual gear according to signals such as the vehicle speed and the like in the driving process. The whole vehicle controller is a core component of the new energy electric vehicle, calculates output power parameters required by the running of the vehicle according to the operation intention of a driver such as accelerator pedal opening, brake pedal opening, gear signals, key switch signals and the like, real-time working parameters of a battery and a motor system and the real-time running state of the vehicle, so as to coordinate the reasonable work of each power component, specifically control the torque output of a main motor and an auxiliary motor in fig. 2, provide torque for a drive axle and ensure the safety and the reliability of the running of the vehicle.
In a specific implementation, the vehicle controller obtains pedal information and gear information of the gearbox, and obtains torque information of the main motor and torque information of the auxiliary motor. It can be understood that the driver can adjust the opening of the accelerator pedal or the opening of the brake pedal and the gear of the vehicle during running of the vehicle, so that the torque of the main motor and the auxiliary motor is changed, and the required torque of the vehicle is also changed. The required torque of the whole vehicle is equal to the main motor torque obtained by the current rotational speed table, the speed ratio of the gearbox and the auxiliary motor torque obtained by the current rotational speed table, and the pedal opening coefficient is multiplied, namely: t req＝(Tm·ig+Tv) k, where: t req is the torque required by the whole vehicle; t m is the torque of the main motor; i g is the transmission ratio, i.e. the product of the number of teeth of all driven wheels/the product of the number of teeth of all driving gears in the transmission; t v is the torque of the auxiliary motor; k is a pedal opening coefficient, which is a known quantity.
After the pedal information and the gear information are obtained, and the torque information of the main motor and the torque information of the auxiliary motor are obtained, the whole vehicle controller can control the main motor and the auxiliary motor to output the required torque of the vehicle under the preset condition according to the information. It is to be noted that the required torque output here is the required torque of the vehicle under the preset condition. It will be appreciated that under different preset conditions, the obtained information is different, and the required torque is different. Correspondingly, the preset conditions specifically comprise that the vehicle is in a preset gear, the vehicle is in a preset speed or the vehicle is in an energy recovery state; namely, under the above conditions, the vehicle controller can control the main motor and the auxiliary motor to output corresponding required torque. In this embodiment, the specific gear of the preset gear is not limited, and depends on the specific implementation situation; the specific speed of the preset vehicle speed is not limited, and the preset vehicle speed is determined according to specific implementation conditions; the specific opening mode of the energy recovery state is not limited, and depends on the specific implementation.
In the embodiment, pedal information and gear information of a gearbox are obtained, and torque information of a main motor and torque information of an auxiliary motor are obtained; controlling the main motor and the auxiliary motor to output the required torque of the vehicle under the preset condition according to the pedal information and the gear information, and the torque information of the main motor and the torque information of the auxiliary motor; the preset condition is that the vehicle is in a preset gear, the vehicle is in a preset speed or the vehicle is in an energy recovery state. Therefore, the scheme can output the required torque of the vehicle under different conditions by acquiring the pedal information and the gear information of the vehicle, so that the whole vehicle torque distribution is reasonable, and the whole vehicle energy consumption is reduced.
Based on the above embodiments:
as a preferred embodiment, controlling the main motor and the auxiliary motor to output the required torque of the vehicle in the preset gear comprises:
If the current gear is determined to be in the preset gear according to the gear information, judging whether the required torque is larger than the maximum torque of the main motor;
if yes, controlling the main motor and the auxiliary motor to drive simultaneously so as to output the required torque;
if not, the main motor is controlled to be driven independently to output the required torque.
In a specific implementation, when the preset condition is that the vehicle is in a preset gear, the main motor and the auxiliary motor need to be controlled to output corresponding required torque. It will be appreciated that the torque demand is different when the vehicle is in either a low or high gear. Taking a low gear as an example, if the preset gear is the low gear, confirming that high torque is required at the moment to climb a slope or start with heavy load, and reducing speed and increasing torque are required; because the auxiliary motor is arranged at the output end of the gearbox, the torque of the auxiliary motor does not pass through the gearbox, and the auxiliary motor cannot be used alone to provide torque in order to provide enough torque.
Specifically, it is determined whether the required torque at this time is greater than the main motor maximum torque, i.e., T req>Tm_max·ig. And if the required torque is larger than the maximum torque of the main motor, controlling the main motor and the auxiliary motor to work simultaneously so as to output the required torque. The torque demand at this time is T req＝Tm_t·ig+Tv_t. It should be noted that, T m_t and T v_t are torque obtained by the main motor and the auxiliary motor according to the table look-up under the current pedal opening coefficient k, that is, the pedal opening coefficient k has a corresponding relation table with the torque of the auxiliary main motor, and the torque of the main motor and the torque of the auxiliary motor at this time can be known through the table look-up under the condition of knowing the current pedal opening. When the required torque is not greater than the maximum torque of the main motor at this time, namely T req≤Tm_max·ig, the main motor can provide the required torque at this time by being independently driven, so that the main motor is operated at this time, the auxiliary motor is not operated, and the output required torque is T req＝Tm_t·ig.
In the embodiment, when the vehicle is in the preset gear, the main motor is controlled to work independently or the main motor and the auxiliary motor are controlled to work simultaneously according to the relation between the required torque and the maximum torque of the main motor, so that the reasonable distribution of the torque is realized.
Based on the above embodiments:
as a preferred embodiment, controlling the main motor and the auxiliary motor to output the required torque of the vehicle at the preset vehicle speed includes:
Acquiring the current speed of the vehicle;
When the current vehicle speed is smaller than the preset vehicle speed, if the required torque is larger than the maximum torque of the main motor, the main motor and the auxiliary motor are controlled to be driven simultaneously so as to output the required torque;
If the required torque is not greater than the maximum torque of the main motor, controlling the main motor to drive independently so as to output the required torque;
when the current vehicle speed is greater than the preset vehicle speed, if the required torque is greater than the maximum torque of the auxiliary motor, the main motor and the auxiliary motor are controlled to be driven simultaneously so as to output the required torque;
and if the required torque is not greater than the maximum torque of the auxiliary motor, controlling the auxiliary motor to independently drive so as to output the required torque.
In a specific implementation, when the preset condition is that the vehicle is at the preset speed, the main motor and the auxiliary motor need to be controlled to output corresponding required torque. It is understood that the required torque is different from the required torque when the vehicle starts when the vehicle is at a certain running speed. For example, when the current vehicle speed is greater than a preset vehicle speed, because the vehicle is in a dynamic process, the driving force demand is smaller, and the auxiliary motor can be driven independently to provide the required torque.
Specifically, the current vehicle speed of the vehicle is first obtained. The rotation speed of the main motor and the auxiliary motor is generally obtained through the rotation speed of the output shaft of the gearbox. When the current vehicle speed is smaller than the preset vehicle speed, if the required torque is larger than the maximum torque of the main motor, namely T req>Tm_max·ig, the main motor and the auxiliary motor are controlled to be driven simultaneously to output the required torque, and the required torque is T req＝Tm_t·ig+Tv_t; if the required torque is not greater than the main motor maximum torque, i.e., T req≤Tm_max·ig, the main motor is controlled to be driven alone to output the required torque, i.e., T req＝Tm_t·ig. It is understood that when the vehicle does not reach the preset speed, the vehicle is considered to be in a working state that requires large torque at a low speed, so that the main and auxiliary motors output torque in a working mode in a preset gear. When the current vehicle speed is greater than the preset vehicle speed, the driving force demand is smaller at this time, and if the required torque is greater than the maximum torque T v_max of the auxiliary motor, i.e., T req>Tv_max, the main motor and the auxiliary motor are controlled to be simultaneously driven to output the required torque, and the required torque at this time is T req＝Tm_t·ig+Tv_t. When the required torque is not greater than the maximum torque of the auxiliary motor, namely T req≤Tv_max, the main motor is controlled to be not operated, and the auxiliary motor is independently driven to output the required torque: t req＝Tv_t. Preferably, the preset speed is generally 40km/h, and may be determined according to the implementation, and is not limited in this embodiment.
In the embodiment, the relation between the current speed and the preset speed is judged by acquiring the current speed of the vehicle, and the main motor is controlled to independently work as the main motor and the auxiliary motor or the auxiliary motor is controlled to independently work according to the relation between the required torque and the maximum torque of the main motor and the auxiliary motor, so that the reasonable distribution of the torque is realized, and the consumption of the whole vehicle is reduced.
Based on the above embodiments:
as a preferred embodiment, controlling the main motor and the auxiliary motor to output the required torque in the energy recovery state of the vehicle includes:
When the existence of the opening of the brake pedal is confirmed according to pedal information, judging whether the absolute value of the required torque is larger than the absolute value of the minimum torque of the auxiliary motor;
If yes, controlling the main motor and the auxiliary motor to drive simultaneously so as to achieve the required torque for energy recovery, wherein the auxiliary motor carries out energy recovery by the minimum torque of the auxiliary motor;
If not, the auxiliary motor is controlled to be driven independently so as to achieve the required torque for energy recovery.
It will be appreciated that unlike conventional heavy duty truck drives, electric heavy duty trucks are driven by torque generated by an electric motor, and thus are capable of energy recovery during vehicle braking. Because the auxiliary motor is positioned at the output end of the gearbox, the torque can not be amplified by the gearbox, so that the braking of the auxiliary motor is preferentially satisfied.
Specifically, when it is confirmed that there is a brake pedal opening according to pedal information, a brake energy feedback torque at that time is calculated. Judging whether the absolute value of the required torque is larger than the absolute value of the minimum torque of the auxiliary motor; it will be appreciated that, since the rotational directions of the rotational shafts of the motors are different when braking energy recovery and driving are performed, the required torque is negative at this time, and the auxiliary motor minimum torque T v_min is also negative, so that it is necessary to compare the absolute values of the two. If the absolute value of the required torque is larger than the absolute value of the minimum torque of the auxiliary motor, the main motor and the auxiliary motor feed back energy simultaneously, and the auxiliary motor feeds back the maximum negative torque, and the torque at the moment is as follows: t req＝Tm_t·ig+Tv_t, wherein T v_t＝Tv_min. When the absolute value of the required torque is not greater than the absolute value of the minimum torque T v_min of the auxiliary motor, the auxiliary motor is controlled to be independently driven to achieve the required torque for energy recovery, namely the auxiliary motor is subjected to energy feedback, the main motor does not work, and the torque is T req＝Tv_t.
In the embodiment, by setting the working states of the main motor and the auxiliary motor during braking energy recovery, reasonable distribution of the torque of the main motor and the torque of the auxiliary motor during braking energy recovery is realized, and the recovery energy saves the energy consumption of the whole vehicle.
Based on the above embodiments:
as a preferred embodiment, when it is determined from the pedal information that there is no brake pedal opening, controlling the main motor and the auxiliary motor to output the required torque in the energy recovery state of the vehicle further includes:
if the current vehicle speed is judged to be in the first interval, controlling the auxiliary motor to be driven independently so as to achieve the required torque for energy recovery;
If the current vehicle speed is judged to be in the second interval, the main motor and the auxiliary motor are controlled to be driven simultaneously so as to achieve the required torque for energy recovery, wherein the main motor is driven by the minimum torque of the main motor for energy recovery;
wherein the maximum value of the first interval is smaller than the minimum value of the second interval.
The above embodiments provide an embodiment of the main and auxiliary motor torque distribution at the time of energy recovery in the presence of a brake pedal opening. On the basis of the above embodiment, if it is confirmed from the pedal information that there is no brake pedal opening coefficient, the energy recovery is performed at this time as the coasting energy recovery.
Specifically, the coasting energy recovery exists in a speed section, i.e., a first section and a second section; wherein the maximum value of the first interval is smaller than the minimum value of the second interval. If the current speed is determined to be in the first interval and the speed is low, only the energy feedback of the auxiliary motor is performed, the required torque is T req＝Tv_min·k1, k 1 is a sliding energy feedback coefficient, and the method is not limited in the embodiment according to the specific energy feedback performance of the vehicle. When the vehicle speed is judged to be in the second interval, the vehicle speed is faster, the main motor and the auxiliary motor are controlled to carry out energy feedback, and the auxiliary motor carries out energy feedback according to the maximum negative torque, and the required torque is as follows: t req＝Tm_min·ig·k2+Tv_min;k2 is a coasting energy feedback coefficient, and is not limited in this embodiment, depending on the specific energy feedback performance of the vehicle. It should be noted that the maximum negative torque of the auxiliary motor is the minimum torque of the auxiliary motor and is a negative value.
In the embodiment, by setting the working states of the main motor and the auxiliary motor during the sliding energy recovery, the reasonable distribution of the torque of the main motor and the torque of the auxiliary motor during the sliding energy recovery is realized, and the recovery energy saves the energy consumption of the whole vehicle.
Fig. 3 is a flowchart of another dual motor torque control method according to an embodiment of the present application. As shown in fig. 3, in order for the driver to understand the output condition of the vehicle torque, after step S11, the method further includes:
s12: and outputting the working states of the main motor and the auxiliary motor under the current preset condition.
In the above embodiments, the operating states of the main and auxiliary motors of the vehicle in the preset gear, the vehicle in the preset speed, and the vehicle in the energy recovery state are provided, respectively. It can be understood that the working states of the main motor and the auxiliary motor are different under different conditions. In order to enable the driver to grasp the working states of the main motor and the auxiliary motor in real time so as to adjust the running of the vehicle, after step S11, the working states of the main motor and the auxiliary motor under the current preset condition are output, so that the driver can grasp the working states of the main motor and the auxiliary motor in real time; the output mode may be an instrument display mode, a voice broadcast mode, or other modes, and is not limited in this embodiment according to specific implementation conditions.
In this embodiment, after the main motor and the auxiliary motor are controlled to output the required torque, the working states of the main motor and the auxiliary motor under the current preset condition are output, so that the driver knows the output condition of the vehicle torque, and is convenient for adjusting the vehicle.
Based on the above embodiments:
As a preferred embodiment, the preset gear is 1 gear or 2 gear.
In the above embodiment, when the preset condition is that the vehicle is in the preset gear, the main and auxiliary motors need to be controlled to output corresponding required torque. The low gear needs large torque to climb a slope or start with heavy load, and needs speed reduction and torque increase; for high torque gears, typically 1 or 2 gears, i.e. 1 or 2 gears of the vehicle. The 1-gear is used when the vehicle starts normally or climbs a steep slope, and the vehicle speed is generally 10km/h; the 2-speed gear is an excessive gear accelerated after starting or used in a low-speed forward running mode, and the vehicle speed is generally 20km/h. Thus, the 1-gear or 2-gear corresponds to the low-gear preset gear requiring a large torque. Correspondingly, the gear can be an automatic gear D1/D2 or a manual gear M1/M2.
In this embodiment, the preset gear is set to be a 1-gear or a 2-gear, so that when the vehicle is in a low-speed and high-torque driving environment, torque is distributed to the main motor and the auxiliary motor to provide required torque.
In the above embodiments, the method for controlling torque of two motors is described in detail, and the application also provides a corresponding embodiment of the device for controlling torque of two motors. It should be noted that the present application describes an embodiment of the device portion from two angles, one based on the angle of the functional module and the other based on the angle of the hardware structure.
Fig. 4 is a schematic structural diagram of a dual-motor torque control device according to an embodiment of the present application. As shown in fig. 4, the two-motor torque control device includes:
The acquisition module 10 is used for acquiring pedal information and gear information of the gearbox and acquiring torque information of the main motor and torque information of the auxiliary motor.
The control module 11 is used for controlling the main motor and the auxiliary motor to output the required torque of the vehicle under the preset condition according to the pedal information and the gear information, and the torque information of the main motor and the torque information of the auxiliary motor.
The preset condition is that the vehicle is in a preset gear, the vehicle is in a preset speed or the vehicle is in an energy recovery state.
Since the embodiments of the apparatus portion and the embodiments of the method portion correspond to each other, the embodiments of the apparatus portion are referred to the description of the embodiments of the method portion, and are not repeated herein.
Fig. 5 is a schematic structural diagram of another dual-motor torque control device according to an embodiment of the present application, where, as shown in fig. 5, the dual-motor torque control device includes:
a memory 20 for storing a computer program.
A processor 21 for carrying out the steps of the method of dual motor torque control as mentioned in the above embodiments when executing a computer program.
The dual-motor torque control device provided in this embodiment may include, but is not limited to, a smart phone, a tablet computer, a notebook computer, a desktop computer, or the like.
Processor 21 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The Processor 21 may be implemented in at least one hardware form of DSP (DIGITAL SIGNAL Processor), FPGA (Field-Programmable gate array), PLA (Programmable Logic Array ). The processor 21 may also include a main processor, which is a processor for processing data in an awake state, also called a CPU (Central Processing Unit ), and a coprocessor; a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 21 may integrate a GPU (Graphics Processing Unit, image processor) for rendering and drawing of content required to be displayed by the display screen. In some embodiments, the processor 21 may also include an AI (ARTIFICIAL INTELLIGENCE ) processor for processing computing operations related to machine learning.
Memory 20 may include one or more computer-readable storage media, which may be non-transitory. Memory 20 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In this embodiment, the memory 20 is at least used for storing a computer program 201, which, when loaded and executed by the processor 21, is capable of implementing the relevant steps of the dual motor torque control method disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 20 may further include an operating system 202, data 203, and the like, where the storage manner may be transient storage or permanent storage. Operating system 202 may include Windows, unix, linux, among other things. The data 203 may include, but is not limited to, data related to a two motor torque control method.
In some embodiments, the dual motor torque control device may further include a display 22, an input/output interface 23, a communication interface 24, a power supply 25, and a communication bus 26.
Those skilled in the art will appreciate that the configuration shown in fig. 5 is not limiting of a dual motor torque control device and may include more or fewer components than shown.
Finally, the application also provides a corresponding embodiment of the computer readable storage medium. The computer-readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps as described in the method embodiments above.
It will be appreciated that the methods of the above embodiments, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored on a computer readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium for performing all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The method, the device and the computer readable storage medium for controlling the torque of the double motors provided by the application are described in detail. In the description, each embodiment is described in a progressive manner, and each embodiment is mainly described by the differences from other embodiments, so that the same similar parts among the embodiments are mutually referred. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the application can be made without departing from the principles of the application and these modifications and adaptations are intended to be within the scope of the application as defined in the following claims.
It should also be noted that in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Claims (4)
1. A dual motor torque control method, comprising:
Acquiring pedal information and gear information of a gearbox, and acquiring torque information of a main motor and torque information of an auxiliary motor;
Controlling the main motor and the auxiliary motor to output the required torque of the vehicle under the preset condition according to the pedal information and the gear information, and the torque information of the main motor and the torque information of the auxiliary motor;
The preset condition is that the vehicle is in a preset gear, the vehicle is in a preset speed or the vehicle is in an energy recovery state;
Controlling the main motor and the auxiliary motor to output the required torque of the vehicle in the preset gear comprises:
if the current gear is confirmed to be in the preset gear according to the gear information, judging whether the required torque is larger than the maximum torque of the main motor or not; the preset gear is a 1-gear or 2-gear representing a low gear;
If yes, controlling the main motor and the auxiliary motor to be driven simultaneously so as to output the required torque; the calculation mode of the required torque T req is as follows: t req＝Tm_t·ig+Tv_t;Tm_t and T v_t are respectively the main motor torque and the auxiliary motor torque obtained according to the corresponding relation table under the current pedal opening coefficient k; the corresponding relation table comprises the corresponding relation between the pedal opening coefficient and the torque of the auxiliary main motor;
if not, controlling the main motor to be driven independently so as to output the required torque; the calculation mode of the required torque T req is as follows: t req＝Tm_t·ig;ig is the transmission speed ratio;
Controlling the main motor and the auxiliary motor to output the required torque of the vehicle at the preset vehicle speed comprises:
acquiring the current speed of the vehicle;
When the current vehicle speed is smaller than the preset vehicle speed, if the required torque is larger than the maximum torque of the main motor, controlling the main motor and the auxiliary motor to be driven simultaneously so as to output the required torque;
If the required torque is not greater than the maximum torque of the main motor, controlling the main motor to be driven independently so as to output the required torque;
when the current vehicle speed is greater than the preset vehicle speed, if the required torque is greater than the maximum torque of the auxiliary motor, controlling the main motor and the auxiliary motor to be driven simultaneously so as to output the required torque;
If the required torque is not greater than the maximum torque of the auxiliary motor, controlling the auxiliary motor to be driven independently so as to output the required torque;
Controlling the main motor and the auxiliary motor to output the required torque of the vehicle in the energy recovery state includes:
When the existence of the opening of the brake pedal is confirmed according to the pedal information, judging whether the absolute value of the required torque is larger than the absolute value of the minimum torque of the auxiliary motor;
If yes, controlling the main motor and the auxiliary motor to be driven simultaneously so as to achieve the required torque for energy recovery, wherein the auxiliary motor carries out energy recovery by the minimum torque of the auxiliary motor;
If not, controlling the auxiliary motor to drive independently so as to achieve the required torque for energy recovery;
When it is confirmed that there is no brake pedal opening according to the pedal information, controlling the main motor and the auxiliary motor to output the required torque of the vehicle in the energy recovery state further includes:
If the current vehicle speed is judged to be in the first interval, controlling the auxiliary motor to be driven independently so as to achieve the required torque for energy recovery;
If the current vehicle speed is judged to be in the second interval, the main motor and the auxiliary motor are controlled to be driven simultaneously so as to achieve the required torque for energy recovery, wherein the main motor is driven by the minimum torque of the main motor for energy recovery;
Wherein the maximum value of the first interval is smaller than the minimum value of the second interval;
further comprises:
Outputting the current working states of the main motor and the auxiliary motor under the preset condition.
2. A dual motor torque control device, comprising:
The acquisition module is used for acquiring pedal information and gear information of the gearbox and acquiring torque information of the main motor and torque information of the auxiliary motor;
The control module is used for controlling the main motor and the auxiliary motor to output the required torque of the vehicle under the preset condition according to the pedal information, the gear information, the torque information of the main motor and the torque information of the auxiliary motor;
The preset condition is that the vehicle is in a preset gear, the vehicle is in a preset speed or the vehicle is in an energy recovery state; controlling the main motor and the auxiliary motor to output the required torque of the vehicle in the preset gear comprises:
if the current gear is confirmed to be in the preset gear according to the gear information, judging whether the required torque is larger than the maximum torque of the main motor or not; the preset gear is a 1-gear or 2-gear representing a low gear;
If yes, controlling the main motor and the auxiliary motor to be driven simultaneously so as to output the required torque; the calculation mode of the required torque T req is as follows: t req＝Tm_t·ig+Tv_t;Tm_t and T v_t are respectively the main motor torque and the auxiliary motor torque obtained according to the corresponding relation table under the current pedal opening coefficient k; the corresponding relation table comprises the corresponding relation between the pedal opening coefficient and the torque of the auxiliary main motor;
if not, controlling the main motor to be driven independently so as to output the required torque; the calculation mode of the required torque T req is as follows: t req＝Tm_t·ig;ig is the transmission speed ratio;
Controlling the main motor and the auxiliary motor to output the required torque of the vehicle at the preset vehicle speed comprises:
acquiring the current speed of the vehicle;
When the current vehicle speed is smaller than the preset vehicle speed, if the required torque is larger than the maximum torque of the main motor, controlling the main motor and the auxiliary motor to be driven simultaneously so as to output the required torque;
If the required torque is not greater than the maximum torque of the main motor, controlling the main motor to be driven independently so as to output the required torque;
when the current vehicle speed is greater than the preset vehicle speed, if the required torque is greater than the maximum torque of the auxiliary motor, controlling the main motor and the auxiliary motor to be driven simultaneously so as to output the required torque;
If the required torque is not greater than the maximum torque of the auxiliary motor, controlling the auxiliary motor to be driven independently so as to output the required torque;
Controlling the main motor and the auxiliary motor to output the required torque of the vehicle in the energy recovery state includes:
When the existence of the opening of the brake pedal is confirmed according to the pedal information, judging whether the absolute value of the required torque is larger than the absolute value of the minimum torque of the auxiliary motor;
If yes, controlling the main motor and the auxiliary motor to be driven simultaneously so as to achieve the required torque for energy recovery, wherein the auxiliary motor carries out energy recovery by the minimum torque of the auxiliary motor;
If not, controlling the auxiliary motor to drive independently so as to achieve the required torque for energy recovery;
When it is confirmed that there is no brake pedal opening according to the pedal information, controlling the main motor and the auxiliary motor to output the required torque of the vehicle in the energy recovery state further includes:
If the current vehicle speed is judged to be in the first interval, controlling the auxiliary motor to be driven independently so as to achieve the required torque for energy recovery;
If the current vehicle speed is judged to be in the second interval, the main motor and the auxiliary motor are controlled to be driven simultaneously so as to achieve the required torque for energy recovery, wherein the main motor is driven by the minimum torque of the main motor for energy recovery;
Wherein the maximum value of the first interval is smaller than the minimum value of the second interval;
further comprises:
Outputting the current working states of the main motor and the auxiliary motor under the preset condition.
3. A dual motor torque control device, comprising:
A memory for storing a computer program;
a processor for implementing the steps of the two-motor torque control method of claim 1 when executing the computer program.
4. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the two-motor torque control method according to claim 1.
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