CN116512927A - Torque distribution method, device, equipment and medium of multi-motor system - Google Patents
Torque distribution method, device, equipment and medium of multi-motor system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
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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
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/42—Electrical machine applications with use of more than one motor
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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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
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The embodiment of the invention discloses a torque distribution method, a device, equipment and a medium of a multi-motor system. The method comprises the following steps: acquiring the pedal opening and the current speed of a current vehicle, and determining the current required torque of the current vehicle according to the pedal opening and the current speed; determining at least one candidate torque distribution pattern matching the current demand torque; determining candidate torque distribution combinations of different motors in any candidate torque distribution mode; determining motor output power corresponding to each candidate torque distribution combination in different candidate torque distribution modes; and selecting a target torque distribution combination from the candidate torque distribution combinations according to the motor output power of different candidate torque distribution combinations. By the scheme, the reasonable distribution of motor torque of the multi-motor system is realized.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicle control, in particular to a torque distribution method, a device, equipment and a medium of a multi-motor system.
Background
With the development of technology, the market share of electric vehicles is gradually increasing. With the increase of the demands of the driving systems, the number of the pure electric vehicles with multiple motor configurations is gradually increasing as one of the electric vehicles. For multi-motor electric vehicles, how to reasonably distribute motor torque to a multi-motor system according to current required torque of the vehicle is of great importance.
Disclosure of Invention
The invention provides a torque distribution method, a device, equipment and a medium of a multi-motor system so as to realize reasonable distribution of motor torque of the multi-motor system.
According to an aspect of the present invention, there is provided a torque distribution method of a multi-motor system, including:
acquiring the pedal opening and the current speed of a current vehicle, and determining the current required torque of the current vehicle according to the pedal opening and the current speed;
determining at least one candidate torque distribution pattern matching the current demand torque;
determining candidate torque distribution combinations of different motors in any candidate torque distribution mode;
determining motor output power corresponding to each candidate torque distribution combination in different candidate torque distribution modes;
And selecting a target torque distribution combination from the candidate torque distribution combinations according to the motor output power of different candidate torque distribution combinations.
According to another aspect of the present invention, there is provided a torque distribution device of a multi-motor system, including:
the current demand torque determining module is used for obtaining the pedal opening and the current speed of the current vehicle and determining the current demand torque of the current vehicle according to the pedal opening and the current speed;
a torque distribution mode determining module for determining at least one candidate torque distribution mode matching the current demand torque;
the torque distribution combination determining module is used for determining candidate torque distribution combinations of different motors in any candidate torque distribution mode;
the motor output power determining module is used for determining motor output power corresponding to each candidate torque distribution combination in different candidate torque distribution modes;
and the target torque distribution determining module is used for selecting a target torque distribution combination from the candidate torque distribution combinations according to the motor output power of different candidate torque distribution combinations.
According to another aspect of the present invention, there is provided an electronic apparatus including:
At least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the torque distribution method of the multi-motor system of any one of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute a method of torque distribution for a multi-motor system according to any one of the embodiments of the present invention.
According to the torque distribution scheme of the multi-motor system, at least one candidate torque distribution mode is determined according to the current required torque; the target torque distribution combination is selected according to the motor output power of different candidate torque distribution combinations in each candidate torque distribution mode, so that consideration of various possible candidate torque distribution modes and candidate torque distribution combinations in the multi-motor system is realized, the accuracy of the target torque distribution combination is improved, and the rationality of motor torque distribution of the multi-motor system is realized.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a torque distribution method for a multi-motor system according to a first embodiment of the present invention;
fig. 2 is a flowchart of a torque distribution method of a multi-motor system according to a second embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a torque distribution device of a multi-motor system according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device for implementing a torque distribution method of a multi-motor system according to a fourth embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1 is a flowchart of a torque distribution method of a multi-motor system according to an embodiment of the present invention, where the method may be performed by a torque distribution device of the multi-motor system, and the device may be implemented in hardware and/or software, and the device may be configured in an electronic device that carries a torque distribution function of the multi-motor system.
Referring to the torque distribution method of the multi-motor system shown in fig. 1, the method includes:
s110, acquiring the pedal opening and the current speed of the current vehicle, and determining the current required torque of the current vehicle according to the pedal opening and the current speed.
The current vehicle is a vehicle requiring torque distribution. The embodiment of the invention does not limit the types of the current vehicles, and can be selected by technicians according to experience or needs, so that at least two motors in the current vehicles are ensured. By way of example, the current vehicle may be a vehicle incorporating a four-motor, two-electric drive axle. The pedal opening refers to the accelerator pedal opening of the current vehicle at the current time. The current speed refers to the speed of the current vehicle at the current time. The current required torque refers to the amount of torque that is required by the current vehicle at the current time.
By way of example, the current demand torque may be determined by the following equation:
T req ＝αT max (v x )；
wherein T is req Representing a current demand torque; alpha represents the pedal opening; t (T) max Representing electric drive in a current vehiclePeak torque that the bridge can output; v x Indicating the current speed. Peak torque T max And the current speed v x There is a one-to-one correspondence at the current speed v x Peak torque T when determining max I.e. can be determined.
Specifically, the pedal opening and the current speed of the current vehicle at the current moment are obtained, and the current required torque of the current vehicle is determined through the pedal opening and the current speed.
S120, determining at least one candidate torque distribution mode matched with the current required torque.
The candidate torque distribution mode refers to a motor distribution mode capable of meeting current required torque. Specifically, the candidate torque distribution modes may include the model number of the motors, the number of the motors, and the like. The type and/or number of candidate torque distribution modes may be determined based on the type of current vehicle and the current torque demand. For example, if the current vehicle is a four-motor two-electric drive axle vehicle, the candidate torque distribution modes may include a single motor mode, a two-motor mode, a three-motor mode, and a four-motor mode.
Specifically, at least one candidate torque distribution pattern that matches is determined based on the current demand torque.
S130, determining candidate torque distribution combinations of different motors in any candidate torque distribution mode.
The candidate torque distribution combination refers to a torque distribution mode capable of meeting the current required torque. Specifically, the candidate torque distribution combinations may include motor model numbers, magnitudes of torque distributed by each motor, and the like. It should be noted that, for any candidate torque distribution mode including a requirement of at least two motors, the number of candidate torque distribution combinations of different motors in the candidate torque distribution mode is at least one; for a candidate torque distribution pattern including a demand for one electric machine, there is no candidate torque distribution combination in the candidate torque distribution pattern.
Specifically, for any candidate torque distribution mode including a requirement of at least two motors, candidate torque distribution combinations of different motors in the candidate torque distribution mode are determined.
And S140, determining motor output power corresponding to each candidate torque distribution combination in different candidate torque distribution modes.
The motor output power refers to the total output power of each motor in the candidate torque distribution combination.
In an alternative embodiment, the motor output power may be determined directly from the motor torque of each motor in the candidate torque distribution combination, without consideration of other factors, and the corresponding power.
In order to improve accuracy of the motor output power, in another alternative embodiment, the motor output power may consider loss of the motor output power by the electric drive axle, compensate power corresponding to each motor torque in the candidate torque distribution combination according to the efficiency of the electric drive axle, and determine the motor output power through the compensated power.
Alternatively, the embodiment of the invention can determine the motor output power corresponding to all candidate torque distribution combinations in different candidate torque distribution modes according to the efficiency of the electric drive axle. Specifically, determining motor output power corresponding to each candidate torque distribution combination in different candidate torque distribution modes includes: determining the power of each motor to be processed in any candidate torque distribution combination in different candidate torque distribution modes respectively; respectively determining the processable motor power of each motor in the candidate torque distribution combination according to the motor power to be processed and the electric drive axle efficiency of the current vehicle; and determining the motor output power corresponding to the candidate torque distribution combination according to the processable motor power of each motor in the candidate torque distribution combination.
The motor power to be processed refers to motor power corresponding to motor torque of each motor in the candidate torque distribution combination. Specifically, the number of motor powers to be processed corresponds to the number of motor torques in the candidate torque distribution combination, i.e., one motor torque corresponds to one motor power to be processed. For example, if the candidate torque distribution combination includes the motor torque a of the motor a, the motor torque B of the motor B, and the motor torque C of the motor C, the candidate torque distribution combination corresponds to the motor power to be processed including the motor power to be processed a ' corresponding to the motor torque a, the motor power to be processed B ' corresponding to the motor torque B, and the motor power to be processed C ' corresponding to the motor torque C.
The embodiment of the invention does not specifically limit the efficiency of the electric drive axle, and can be set by a technician according to experience. For example, electric drive axle efficiency may be determined based on the type of vehicle currently in use. It should be noted that, if a dual electric drive axle is included in the current vehicle, the electric drive axle efficiencies of different electric drive axles may be the same or different.
The processable motor power refers to the motor power of each motor after the electric drive axle efficiency compensation in the candidate torque distribution combination. Continuing the previous example, the treatable motor power corresponding to the candidate torque distribution combination may include a treatable motor power a″ corresponding to a to-be-treated motor power a ', a treatable motor power b″ corresponding to a to-be-treated motor power b ', and a treatable motor power c″ corresponding to a to-be-treated motor power c '.
By way of example, the processable motor power may be determined by the following formula:
wherein P represents the processable motor power; p (P) m Representing the power of a motor to be processed; η (eta) M Representing the electric drive axle efficiency. The electric drive axle efficiency η M According to the power P of the motor to be processed m And determining the electric drive axle where the corresponding motor is positioned. For example, if the motor power P is to be processed m The corresponding electric drive axle where the motor is positioned is h, and the efficiency eta of the electric drive axle M Is the efficiency of the electric drive axle h.
Wherein, the power P of the motor to be processed can be determined by the following formula m ：
η m ＝f(n M ,T M )；
Wherein n is M Indicating the rotational speed of the motor; v x Representing the current speed; i.e M Representing the speed ratio of the motor; 0.377 represents a coefficient; r represents the tire rolling radius of the current vehicle; f represents an efficiency value corresponding to the rotation speed of the motor and the torque of the motor; η (eta) m Representing the efficiency of the motor; t (T) M Representing the torque of the motor; 9550 represents a coefficient. The rotation speed of the motor may be determined according to the current speed.
Continuing the previous example, the motor output power corresponding to the candidate torque distribution combination is the sum of the processable motor power a ", the processable motor power b", and the processable motor power c ".
It can be appreciated that by considering the efficiency of the electric drive axle, the motor output power is determined, so that the situation that the determined motor output power cannot meet the current required torque is avoided, and the accuracy of the motor output power is improved.
Or alternatively, the embodiment of the invention can determine the motor output power corresponding to partial candidate torque distribution combinations in different candidate torque distribution modes according to the efficiency of the electric drive axle. Specifically, determining motor output power corresponding to each candidate torque distribution combination in different candidate torque distribution modes includes: determining the power of each motor to be processed in any candidate torque distribution combination in different candidate torque distribution modes respectively; according to the power of the motor to be processed and a preset selection threshold value of each motor in each candidate torque distribution combination in any candidate torque distribution mode, selecting a preset selection threshold value of reference torque distribution combinations from each candidate torque distribution combination in the candidate torque distribution mode; respectively determining the processable motor power of each motor in the reference torque distribution combination according to the motor power to be processed of each motor in the reference torque distribution combination and the electric drive axle efficiency of the current vehicle; and determining the motor output power corresponding to different reference torque distribution combinations according to the processable motor power of each motor in the reference torque distribution combinations.
The magnitude of the preset selection threshold is not limited, and the preset selection threshold can be set by a technician according to experience or needs, or can be repeatedly determined through a large number of experiments. It should be noted that, the motors on the same electric drive axle have the same efficiency; the motors on different electric drive axles may or may not have the same electric drive axle efficiency. The reference torque distribution combination refers to a candidate torque distribution combination that requires electric drive axle efficiency compensation.
For example, if the preset selection threshold is 10, respectively determining the sum of the power of each motor to be processed corresponding to each candidate torque distribution combination for each candidate torque distribution combination in any candidate torque distribution mode, and selecting candidate torque distribution combinations with smaller sum of 10 motor powers to be processed from each candidate torque distribution combination as reference torque distribution combinations by the determined sum of the power of each motor to be processed; compensating the power of the motors to be processed of each motor in the reference torque distribution combination according to the efficiency of the electric drive axle to obtain the power of the motors which can be processed of each motor in the reference torque distribution combination; and determining the motor output power corresponding to any reference torque distribution combination according to the processable motor efficiency of each motor in the reference torque distribution combination.
It should be noted that the preset selection thresholds corresponding to different candidate torque distribution modes may be the same or different, which is not limited in the embodiment of the present invention.
It can be appreciated that by introducing the reference torque distribution combination, compensation of the efficiency of the electric drive axle is achieved for a portion of the candidate torque distribution combinations, thereby reducing the amount of computation and improving the efficiency of determining the output power of the motor.
S150, selecting a target torque distribution combination from the candidate torque distribution combinations according to motor output power of different candidate torque distribution combinations.
The target torque distribution combination refers to a mode of performing torque distribution.
Specifically, when compensating for the efficiency of the electric drive axle for a portion of the candidate torque distribution combinations, a target torque distribution combination may be selected from among the reference torque distribution combinations according to the motor output powers of the different reference torque distribution combinations.
It can be appreciated that by selecting the target torque distribution combination from the reference torque distribution combinations, the amount of computation is reduced, and the efficiency of selecting the target torque distribution combination is improved.
When the target torque distribution combination is selected, the target torque distribution combination may be selected directly from the candidate torque distribution combinations or the reference torque distribution combinations in different candidate torque distribution modes. Alternatively, from among the candidate torque distribution combinations or the reference torque distribution combinations in the candidate torque distribution modes, a candidate torque distribution combination or a reference torque distribution combination with smaller motor output power may be selected as an intermediate torque distribution combination; and selecting a target torque distribution combination with smaller motor output power from the intermediate torque distribution combination. The advantage of this is: the operation amount is reduced, and the selection efficiency of the target torque distribution combination is improved. Preferably, when determining the intermediate torque distribution combination and the target torque distribution combination, the motor output power is selected to be the smallest, so that the economic influence on the vehicle can be reduced.
Specifically, a target torque distribution combination is selected from among the candidate torque distribution combinations according to motor output powers of different candidate torque distribution combinations in each candidate torque distribution mode.
According to the torque distribution scheme of the multi-motor system, at least one candidate torque distribution mode is determined according to the current required torque; the target torque distribution combination is selected according to the motor output power of different candidate torque distribution combinations in each candidate torque distribution mode, so that consideration of various possible candidate torque distribution modes and candidate torque distribution combinations in the multi-motor system is realized, the accuracy of the target torque distribution combination is improved, and the rationality of motor torque distribution of the multi-motor system is realized.
On the basis of the technical scheme, if the candidate torque distribution mode requiring one motor is included, the efficiency of the motor corresponding to the rotating speed of the motor can be obtained directly according to the Map of the motor efficiency by adopting an interpolation method, and the power of the motor to be processed is determined according to the rotating speed of the motor and the efficiency of the motor. In the Map of motor efficiency, the abscissa is the rotational speed of the motor, the ordinate is the torque of the motor, and one torque corresponds to the efficiency of one motor.
Example two
Fig. 2 is a flowchart of a torque distribution method of a multi-motor system according to a second embodiment of the present invention, where the operation of "determining candidate torque distribution combinations of different motors in the candidate torque distribution mode" is further refined to "if a candidate torque distribution mode requiring at least two motors is included, determining allowable torque intervals of each motor in the candidate torque distribution mode according to a current required torque, based on the above embodiments; selecting one motor from at least two motors in the candidate torque distribution mode as a reference motor, and the other motors as motors to be processed; and determining a candidate torque distribution combination between the reference motor and each motor to be processed in the candidate torque distribution mode according to the allowable torque interval of the motor to be processed and the current required torque so as to perfect a determination mechanism of the candidate torque distribution combination. In the portions of the embodiments of the present invention that are not described in detail, reference may be made to other embodiments.
Referring to the torque distribution method of the multi-motor system shown in fig. 2, the method includes:
s210, acquiring the pedal opening degree and the current speed of the current vehicle, and determining the current required torque of the current vehicle according to the pedal opening degree and the current speed.
S220, determining at least one candidate torque distribution mode matched with the current required torque.
S230, determining an allowable torque section of each motor in any candidate torque distribution mode according to the current speed if the candidate torque distribution mode requiring at least two motors is included.
The allowable torque interval refers to a torque range in which the motor can provide torque under the current required torque.
Specifically, for any candidate torque distribution mode, if the candidate torque distribution mode is a candidate torque distribution mode including at least two motors required, the rotation speed of the motors can be determined according to the current speed, and the allowable torque section of the motors can be determined according to the rotation speed of the motors.
It should be noted that the allowable torque ranges of different motors may be the same or different, which is not limited in any way by the embodiment of the present invention.
S240, selecting one motor from at least two motors in the candidate torque distribution mode as a reference motor, and the other motors as motors to be processed.
The motor to be processed is a motor which can directly determine the torque according to the torque value corresponding to any point in the allowed torque interval. The reference motor refers to a motor of which the torque can be determined according to the torque of the motor to be processed.
For example, if a candidate torque distribution pattern requiring at least two motors is included, the relationship between the current required torque and the torque of each motor satisfies:
wherein T is req Representing a current demand torque; t (T) M1 Representing torque of the first motor; t (T) M2 Representing torque of the second motor; t (T) Mn Represents torque of the nth motor;representing peak torque of the first motor; />Representing peak torque of the second motor；/>Representing peak torque of the nth motor; i.e M1 Representing the speed ratio of the first motor; i.e M2 Representing the speed ratio of the second motor; i.e Mn Indicating the speed ratio of the nth motor. When the current required torque changes, the peak torque of each motor changes, that is, the allowable torque range of each motor changes.
For example, for any candidate torque distribution mode including three motors, motor a, motor B and motor C, respectively, from among the three motors in the candidate torque distribution mode, motor C may be used as a reference motor, and motor a and motor B may both be used as motors to be processed.
S250, determining candidate torque distribution combinations between the reference motor and each motor to be processed in the candidate torque distribution mode according to the allowable torque interval and the current required torque of the motor to be processed.
In an alternative embodiment, determining a candidate torque distribution combination between the reference motor and each of the motors to be processed in the candidate torque distribution mode based on the allowable torque intervals and the current demand torque of the motors to be processed, includes: respectively generating reference torque sequences of the corresponding motors to be processed according to the allowed torque intervals of the motors to be processed; and determining candidate torque distribution combinations between the reference motor and each motor to be processed according to the reference torque values in the reference torque sequences of different motors to be processed, the allowable torque intervals of the reference motor and the current required torque.
Wherein the reference torque sequence may be used to store torque values of the motor to be processed. In particular, the reference torque sequence may be a matrix. The reference torque value refers to the torque value of the motor to be processed in the reference torque sequence.
Specifically, according to the allowable torque interval of each motor to be processed, respectively generating a reference torque sequence of the corresponding motor to be processed, including: aiming at any motor to be processed, taking the difference value between the maximum value in the allowable torque interval of the motor to be processed and the preset value as the interval torque quantity; the method comprises the steps of finding out a plurality of torque values of interval torque in an allowable torque interval of the motor to be processed, and taking the torque values as reference torque values of the motor to be processed; and generating a reference torque sequence of the motor to be processed according to the reference torque value. The interval torque quantity refers to the quantity of torque values selected from the allowed torque interval of the motor to be processed. The magnitude of the preset value is not limited in the embodiment of the invention, and can be set by a technician according to experience. The preset value may be 1, for example. It should be noted that, the number of torque values of the interval torque can be randomly selected in the allowed torque interval of the motor to be processed, and the number of torque values of the interval torque can also be selected according to a certain interval.
If the preset value is 1, continuing the previous example, wherein the maximum value in the allowed torque interval of the motor A is V A Interval torque quantity g=v A -1, selecting g torque values from the allowed torque intervals of motor a; and according to the selected g torque values, forming a reference torque sequence of the motor A, wherein the torque value in the reference torque sequence is the reference torque value of the motor A. Similarly, the maximum value in the allowable torque range of motor B is V B Interval torque quantity h=v B -1, selecting h torque values from the allowed torque intervals of motor B; and according to the h selected torque values, forming a reference torque sequence of the motor B, wherein the torque value in the reference torque sequence is the reference torque value of the motor B.
Further, candidate torque distribution combinations between the reference motor and each of the motors to be processed are determined according to reference torque values in reference torque sequences of different motors to be processed, allowable torque intervals of the reference motor, and current required torque.
It can be appreciated that by introducing the reference torque sequence, the torque value of the motor to be processed is stored, so that the comprehensiveness of the torque value of the motor to be processed is improved, comprehensive data support is provided for the subsequent determination of the candidate torque distribution combination, and the accuracy of the subsequent determination of the candidate torque distribution combination is improved.
In an alternative embodiment, determining a candidate torque distribution combination between the reference motor and each of the motors to be processed based on the reference torque values in the reference torque sequences of the different motors to be processed, the allowable torque intervals of the reference motor, and the current required torque, includes: respectively selecting reference torque values from the reference torque sequences of the motors to be processed to be combined to obtain initial torque distribution combination; determining initial torque values of a reference motor under different initial torque distribution combinations according to the current required torque; and taking the initial torque distribution combination with the initial torque value meeting the allowable torque interval of the reference motor as a candidate torque distribution combination.
The initial torque distribution combination is a torque combination which needs to be judged whether the initial torque distribution combination can be used as a candidate torque distribution combination. The initial torque value refers to the torque value of the reference motor.
Specifically, randomly selecting reference torque values from different reference torque sequences of the motors to be processed, and combining to obtain an initial torque distribution combination; and determining an initial torque value of the reference motor according to the reference torque value under the current required torque and initial torque distribution combination.
For example, for any candidate torque distribution mode including three motors, motor a, motor B and motor C, respectively, motor C is taken as the reference motor, motor a and motor B are both taken as the motors to be processed, and the initial torque value T of reference motor C can be determined by the following formula MC ：
Wherein T is MC Representing an initial torque value of the motor C; t (T) req Representing a current demand torque; t (T) MA A reference torque value representing motor a; i.e MA Representing the speed ratio of motor A; t (T) MB A reference torque value representing motor B; i.e MB Representing the speed ratio of motor B; i.e MC Indicating the speed ratio of motor C.
Similarly, for any candidate torque distribution mode including requiring two motors, namely motor a and motor B, the motor a is used as the motor to be processed, and the motor B is used as the reference motor, so that the torque distribution mode can be used as followsThe initial torque value T of the reference motor B is determined by the following formula MB ：
Similarly, for any candidate torque distribution mode including four motors, namely motor a, motor B, motor C and motor D, the motor D is taken as a reference motor, and motor a, motor B and motor C are all taken as motors to be processed, and the initial torque value T of the reference motor D can be determined by the following formula MD ：
Wherein T is MD Representing an initial torque value of the motor D; i.e MD Indicating the speed ratio of motor D.
Further, for any initial torque distribution combination, judging whether an initial torque value under the initial torque distribution combination is within an allowable torque interval of a reference motor, and if so, taking the initial torque distribution combination as a candidate torque distribution combination; if not, the initial torque distribution combination is rejected.
It can be appreciated that by introducing the initial torque distribution combination and selecting at least part of the initial torque distribution combination as the candidate torque distribution combination, the subsequent calculation amount can be reduced, the subsequent processing of the invalid candidate torque distribution combination is avoided, and the resource waste is reduced.
In another alternative embodiment, before determining the initial torque value of the reference motor for different initial torque distribution combinations based on the current demand torque, further comprising: and eliminating the initial torque distribution combination, wherein the reference torque value of each motor to be processed is larger than or equal to the initial torque distribution combination of the current required torque.
Specifically, for any initial torque distribution combination, if the sum of the reference torque values of the motors to be processed under the initial torque distribution combination is greater than or equal to the current required torque, the initial torque value is not required to be determined, and the initial torque distribution combination can be directly eliminated.
It can be understood that before the initial torque value is determined, the reference torque value under the initial torque distribution combination is judged, and part of the initial torque distribution combination is removed, so that the operation amount is reduced, the invalid initial torque distribution combination is avoided being processed, the waste of resources is reduced, and the efficiency of subsequent processing is improved.
And S260, determining motor output power corresponding to each candidate torque distribution combination in different candidate torque distribution modes.
S270, selecting a target torque distribution combination from the candidate torque distribution combinations according to motor output power of different candidate torque distribution combinations.
According to the torque distribution scheme of the multi-motor system, provided by the embodiment of the invention, the candidate torque distribution combination is determined by the candidate torque distribution mode comprising at least two motors, so that the accuracy and the comprehensiveness of the candidate torque distribution combination are improved.
Based on the technical scheme, the embodiment of the invention provides an alternative scheme. Specifically, determining a current required torque of the current vehicle according to the pedal opening and the current speed of the current vehicle; determining at least one candidate torque distribution mode matched according to the current required torque; if the candidate torque distribution mode comprises a candidate torque distribution mode requiring a motor, the power of the motor to be processed in the candidate torque distribution mode can be directly obtained according to a Map of motor efficiency, and then the output power of the motor in the candidate torque distribution mode is determined according to the efficiency of an electric drive axle; if the candidate torque distribution mode is a candidate torque distribution mode comprising at least two motors, determining each candidate torque distribution combination in the candidate torque distribution mode, and then determining the motor output power of each candidate torque distribution combination according to the efficiency of the electric drive axle; and selecting a candidate torque distribution combination or a candidate torque distribution mode with smaller motor output power from the motor output powers as a target torque distribution combination or a target torque distribution mode. The target torque distribution mode refers to a single motor mode which meets the current required torque.
According to the technical scheme provided by the embodiment of the invention, the torque distribution mode of each motor in the multi-motor system can be rapidly determined on the basis of ensuring that the current required torque of the current vehicle is met, and the power consumption required by the determined torque distribution mode is the lowest. Meanwhile, the technical scheme provided by the embodiment of the invention has simpler process, and improves the efficiency of determining the torque distribution mode of each motor in the multi-motor system; in addition, the embodiment of the invention considers the efficiency of the electric drive axle and improves the accuracy of the determined torque distribution mode.
Example III
Fig. 3 is a schematic structural diagram of a torque distribution device of a multi-motor system according to a third embodiment of the present invention. The present embodiment may be applicable to the case of determining a torque distribution method in a multi-motor system, which may be performed by a torque distribution device of the multi-motor system, which may be implemented in hardware and/or software, which may be configured in an electronic device carrying a torque distribution function of the multi-motor system.
As shown in fig. 3, the apparatus includes: the current demand torque determination module 310, the torque split mode determination module 320, the torque split combination determination module 330, the motor output power determination module 340, and the target torque split determination module 350. Wherein,,
The current demand torque determining module 310 is configured to obtain a pedal opening and a current speed of the current vehicle, and determine a current demand torque of the current vehicle according to the pedal opening and the current speed;
a torque distribution pattern determination module 320 for determining at least one candidate torque distribution pattern that matches the current demand torque;
a torque distribution combination determination module 330, configured to determine, for any candidate torque distribution mode, a candidate torque distribution combination of different motors in the candidate torque distribution mode;
the motor output power determining module 340 is configured to determine motor output powers corresponding to each candidate torque distribution combination in different candidate torque distribution modes;
the target torque distribution determining module 350 is configured to select a target torque distribution combination from the candidate torque distribution combinations according to motor output powers of different candidate torque distribution combinations.
According to the torque distribution scheme of the multi-motor system, at least one candidate torque distribution mode is determined according to the current required torque; the target torque distribution combination is selected according to the motor output power of different candidate torque distribution combinations in each candidate torque distribution mode, so that consideration of various possible candidate torque distribution modes and candidate torque distribution combinations in the multi-motor system is realized, the accuracy of the target torque distribution combination is improved, and the rationality of motor torque distribution of the multi-motor system is realized.
Alternatively, if a candidate torque distribution pattern requiring at least two electric machines is included, the torque distribution combination determination module 330 includes:
an allowable torque section determining unit configured to determine an allowable torque section of each motor in the candidate torque distribution mode according to the current speed;
the motor determining unit is used for selecting one motor from at least two motors in the candidate torque distribution mode as a reference motor, and the other motors are motors to be processed;
and the candidate torque distribution combination determining unit is used for determining candidate torque distribution combinations between the reference motor and each motor to be processed in the candidate torque distribution mode according to the allowable torque interval and the current required torque of the motor to be processed.
Optionally, the candidate torque distribution combination determining unit includes:
the reference torque sequence determining subunit is used for respectively generating reference torque sequences of the corresponding motors to be processed according to the allowed torque intervals of the motors to be processed;
and the candidate torque distribution combination determining subunit is used for determining candidate torque distribution combinations between the reference motor and each motor to be processed according to the reference torque values in the reference torque sequences of different motors to be processed, the allowable torque intervals of the reference motor and the current required torque.
Optionally, the candidate torque distribution combination determination subunit includes:
the first initial torque distribution combination determining slave unit is used for respectively selecting reference torque values from reference torque sequences of different motors to be processed to be combined to obtain initial torque distribution combinations;
the initial torque value determining slave unit is used for determining initial torque values of the reference motor under different initial torque distribution combinations according to the current required torque;
the candidate torque distribution combination determination slave unit is used for determining an initial torque distribution combination with an initial torque value meeting the allowable torque interval of the reference motor as the candidate torque distribution combination.
Optionally, before the initial torque value determines the slave unit, the apparatus further comprises:
the second initial torque distribution combination determining slave unit is used for eliminating initial torque distribution combinations in which the reference torque value of each motor to be processed is larger than or equal to the current required torque.
Optionally, the motor output power determination module 340 includes:
the first to-be-processed motor power determining unit is used for determining to-be-processed motor power of each motor in any candidate torque distribution combination in different candidate torque distribution modes respectively;
The first processable motor power determining unit is used for respectively determining the processable motor power of each motor in the candidate torque distribution combination according to the motor power to be processed and the electric drive axle efficiency of the current vehicle;
and the first motor output power determining unit is used for determining the motor output power corresponding to the candidate torque distribution combination according to the processable motor power of each motor in the candidate torque distribution combination.
Optionally, the motor output power determination module 340 includes:
the second to-be-processed motor power determining unit is used for determining to-be-processed motor power of each motor in any candidate torque distribution combination in different candidate torque distribution modes respectively;
the reference torque distribution combination determining unit is used for selecting a preset selection threshold value from the candidate torque distribution combinations in the candidate torque distribution mode according to the power of the motor to be processed and the preset selection threshold value of each motor in each candidate torque distribution combination in any candidate torque distribution mode;
a second processable motor power determining unit for determining the processable motor power of each motor in the reference torque distribution combination according to the to-be-processed motor power of each motor in the reference torque distribution combination and the electric drive axle efficiency of the current vehicle;
The second motor output power determining unit is used for determining motor output powers corresponding to different reference torque distribution combinations according to the processable motor powers of the motors in the reference torque distribution combinations;
accordingly, the target torque distribution determination module 350 includes:
and the target torque distribution combination determining unit is used for selecting a target torque distribution combination from all the reference torque distribution combinations according to the motor output power of different reference torque distribution combinations.
The torque distribution device of the multi-motor system provided by the embodiment of the invention can execute the torque distribution method of the multi-motor system provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the torque distribution method of each multi-motor system.
In the technical scheme of the invention, the related processes of collection, storage, use, processing, transmission, provision, disclosure and the like of pedal opening, current speed, electric drive axle efficiency and the like are in accordance with the regulations of related laws and regulations, and the public order is not violated.
Example IV
Fig. 4 is a schematic structural diagram of an electronic device for implementing a torque distribution method of a multi-motor system according to a fourth embodiment of the present invention. The electronic device 410 is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 4, the electronic device 410 includes at least one processor 411, and a memory, such as a Read Only Memory (ROM) 412, a Random Access Memory (RAM) 413, etc., communicatively connected to the at least one processor 411, wherein the memory stores computer programs executable by the at least one processor, and the processor 411 may perform various suitable actions and processes according to the computer programs stored in the Read Only Memory (ROM) 412 or the computer programs loaded from the storage unit 418 into the Random Access Memory (RAM) 413. In the RAM 413, various programs and data required for the operation of the electronic device 410 may also be stored. The processor 411, the ROM 412, and the RAM 413 are connected to each other through a bus 414. An input/output (I/O) interface 415 is also connected to bus 414.
Various components in the electronic device 410 are connected to the I/O interface 415, including: an input unit 416 such as a keyboard, a mouse, etc.; an output unit 417 such as various types of displays, speakers, and the like; a storage unit 418, such as a magnetic disk, optical disk, or the like; and a communication unit 419 such as a network card, modem, wireless communication transceiver, etc. The communication unit 419 allows the electronic device 410 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.
The processor 411 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 411 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 411 performs the various methods and processes described above, such as the torque distribution method of a multi-motor system.
In some embodiments, the torque distribution method of the multi-motor system may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 418. In some embodiments, some or all of the computer program may be loaded and/or installed onto the electronic device 410 via the ROM 412 and/or the communication unit 419. When the computer program is loaded into RAM 413 and executed by processor 411, one or more steps of the torque distribution method of the multi-motor system described above may be performed. Alternatively, in other embodiments, the processor 411 may be configured to perform the torque distribution method of the multi-motor system in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. A method of torque distribution for a multi-motor system, comprising:
acquiring the pedal opening and the current speed of a current vehicle, and determining the current required torque of the current vehicle according to the pedal opening and the current speed;
determining at least one candidate torque distribution pattern matching the current demand torque;
determining candidate torque distribution combinations of different motors in any candidate torque distribution mode;
Determining motor output power corresponding to each candidate torque distribution combination in different candidate torque distribution modes;
and selecting a target torque distribution combination from the candidate torque distribution combinations according to the motor output power of different candidate torque distribution combinations.
2. The method of claim 1, wherein if a candidate torque distribution pattern for at least two electric machines is included, the determining a candidate torque distribution combination for a different electric machine in the candidate torque distribution pattern includes:
determining an allowable torque interval of each motor in the candidate torque distribution mode according to the current speed;
selecting one motor from at least two motors in the candidate torque distribution mode as a reference motor, and the other motors as motors to be processed;
and determining a candidate torque distribution combination between the reference motor and each motor to be processed in the candidate torque distribution mode according to the allowable torque interval of the motor to be processed and the current required torque.
3. The method of claim 2, wherein said determining a candidate torque distribution combination between said reference motor and each of said motors to be processed in the candidate torque distribution mode based on the allowable torque range of said motors to be processed and said current demand torque comprises:
Respectively generating reference torque sequences of the corresponding motors to be processed according to the allowed torque intervals of the motors to be processed;
and determining candidate torque distribution combinations between the reference motor and each motor to be processed according to reference torque values in reference torque sequences of different motors to be processed, an allowable torque interval of the reference motor and the current required torque.
4. A method according to claim 3, wherein said determining a candidate torque distribution combination between the reference motor and each of the motors to be processed based on reference torque values in reference torque sequences of different motors to be processed, allowable torque intervals of the reference motor, and the current required torque comprises:
respectively selecting reference torque values from the reference torque sequences of the motors to be processed to be combined to obtain initial torque distribution combination;
determining initial torque values of the reference motor under different initial torque distribution combinations according to the current required torque;
and taking the initial torque distribution combination of which the initial torque value meets the allowable torque interval of the reference motor as the candidate torque distribution combination.
5. The method of claim 4, wherein prior to determining the initial torque value of the reference motor for different initial torque distribution combinations based on the current demand torque, the method further comprises:
and eliminating the initial torque distribution combination, wherein the reference torque value of each motor to be processed is larger than or equal to the initial torque distribution combination of the current required torque.
6. The method of claim 1, wherein determining the motor output power corresponding to each candidate torque split combination for the different candidate torque split modes comprises:
determining the power of each motor to be processed in any candidate torque distribution combination in different candidate torque distribution modes respectively;
respectively determining the processable motor power of each motor in the candidate torque distribution combination according to the motor power to be processed and the electric drive axle efficiency of the current vehicle;
and determining the motor output power corresponding to the candidate torque distribution combination according to the processable motor power of each motor in the candidate torque distribution combination.
7. The method of claim 1, wherein determining the motor output power corresponding to each candidate torque split combination for the different candidate torque split modes comprises:
Determining the power of each motor to be processed in any candidate torque distribution combination in different candidate torque distribution modes respectively;
according to the power of the motor to be processed and a preset selection threshold value of each motor in each candidate torque distribution combination in any candidate torque distribution mode, selecting a preset selection threshold value of reference torque distribution combinations from each candidate torque distribution combination in the candidate torque distribution mode;
respectively determining the processable motor power of each motor in the reference torque distribution combination according to the motor power to be processed of each motor in the reference torque distribution combination and the electric drive axle efficiency of the current vehicle;
determining motor output power corresponding to different reference torque distribution combinations according to the processable motor power of each motor in the reference torque distribution combinations;
correspondingly, the selecting a target torque distribution combination from the candidate torque distribution combinations according to the motor output power of different candidate torque distribution combinations comprises the following steps:
and selecting a target torque distribution combination from the reference torque distribution combinations according to the motor output power of different reference torque distribution combinations.
8. A torque distribution device for a multi-motor system, comprising:
the current demand torque determining module is used for obtaining the pedal opening and the current speed of the current vehicle and determining the current demand torque of the current vehicle according to the pedal opening and the current speed;
a torque distribution mode determining module for determining at least one candidate torque distribution mode matching the current demand torque;
the torque distribution combination determining module is used for determining candidate torque distribution combinations of different motors in any candidate torque distribution mode;
the motor output power determining module is used for determining motor output power corresponding to each candidate torque distribution combination in different candidate torque distribution modes;
and the target torque distribution determining module is used for selecting a target torque distribution combination from the candidate torque distribution combinations according to the motor output power of different candidate torque distribution combinations.
9. An electronic device, comprising:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, causes the one or more processors to implement the torque distribution method of a multi-motor system as recited in any one of claims 1-7.
10. A computer readable storage medium having stored thereon a computer program, which when executed by a processor, implements a method of torque distribution for a multi-motor system according to any of claims 1-7.
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